Adaptive Region Tracking Control for Robot Manipulator Systems with Uncertain Kinematics and Dynamics

摘要

This paper studies the region tracking control problem of robot manipulator systems modeled by Lagrangian dynamics with uncertain kinematics and dynamics. By introducing a novel sliding mode, an adaptive controller is constructed to make the robot manipulator reach and track a desired dynamic region. Furthermore, a simple yet generic criterion on the region tracking control problem for robot manipulator systems is derived. It is shown that the robot end-effector can be able to reach in the desired dynamic region with the proposed controller in the presence of the uncertain kinematics and dynamics parameters. Based on the investigation, we revisit the region tracking problem with different control methodologies, to gain a brand-new understanding in the region tracking control problem. Finally, simulation results are presented to demonstrate the effectiveness of the theoretical results.