Adaptive Robust Control for Accurate Trajectory Tracking of Collaborative Robots

摘要

In this paper, an adaptive robust control method is proposed by modeling and analyzing the dynamics of the manipulator, which is used to accurately track the desired trajectory in the free space. This controller can estimate the dynamic parameters in real time and can be used to compensate for the control error caused by the uncertain dynamic model and the variable load mass, so as to improve the robustness and control accuracy of the control system. In addition, the proposed controller introduces disturbance observer to compensate the error caused by unknown external disturbance. Before the proposed controller is applied to the manipulator system, its stability analysis is performed by Lyapunov stability theory and some simulation verifies its performance.