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		Yaonan WANG,Jinzhu PENG,Wei SUN,Hongshan YU,Hui ZHANG.[en_title][J].Control Theory and Technology,2008,6(3):281~286.[Copy]

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YaonanWANG,JinzhuPENG,WeiSUN,HongshanYU,HuiZHANG
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Received:August 31, 2006Revised:August 11, 2007

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Robust adaptive tracking control of robotic systems with uncertainties

Yaonan WANG, Jinzhu PENG, Wei SUN, Hongshan YU, Hui ZHANG

(College of Electrical and Information Engineering, Hunan University, Changsha Hunan 410082, China; School of Electrical Engineering, Zhengzhou University, Zhengzhou Henan 450001, China)

Abstract:

To deal with the uncertainty factors of robotic systems, a robust adaptive tracking controller is proposed. The knowledge of the uncertainty factors is assumed to be unidentified; the proposed controller can guarantee robustness to parametric and dynamics uncertainties and can also reject any bounded, immeasurable disturbances entering the system. The stability of the proposed controller is proven by the Lyapunov method. The proposed controller can easily be implemented and the stability of the closed system can be ensured; the tracking error and adaptation parameter error are uniformly ultimately bounded (UUB). Finally, some simulation examples are utilized to illustrate the control performance.

Key words: Robust control Adaptive control Lyapunov stability Robotic tracking control