Adaptive Control of Robot Manipulators Using the Voltage Control Strategy

摘要

This paper develops a simple and novel adaptive control system for the tracking control of robot manipulators. The adaptive control system is free from the dynamical model of robot manipulator and also it is based on the voltage control strategy that is different from common torque control strategy. In the proposed method, both parametric uncertainty and un-modelled dynamics in the form of a lumped uncertainty are estimated by an adaptive mechanism. Using the stability analysis, the asymptotic convergence of tracking error to zero as well as the boundedness of all system states are proven. The efficiency of the proposed control approach is shown by simulation results implemented in an articulated robot manipulator driven by permanent magnet dc motors.