A robust tracking control scheme for robotic manipulators with uncertain dynamics

摘要

A variable-structure compensator is designed for the closed-loop feedback control system of a robotic manipulator with uncertain dynamics. It is shown that the closed-loop system with a variable-structure compensator not only behaves with a strong robustness property with respect to large uncertain dynamics, but also makes the output tracking error converge to zero asymptotically.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>