Robust adaptive tracking control of robotic systems with uncertainties
Yaonan WANG
Jinzhu PENG
Wei SUN
Hongshan YU
Hui ZHANG
摘要：To deal with the uncertainty factors of robotic systems,a robust adaptive tracking controller is Droposed.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.
机标关键词：uniformly ultimately boundedcontrol performanceadaptive trackingparameter errorLyapunov methodtracking errorclosed systemdeal with
资助基金：This work was Supported by the Cultivation Fund of the Key Scientific and Technical Innovation Project,Ministry of Edueation of China(No.706043)Hunan Provincial Natural Science Foundation of China(06JJ50121)the National Natural Science Foundation of china(60775047)
论文发表日期：2008-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：6( 281-286 )
英文信息