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Robust adaptive tracking control of robotic systems with uncertainties

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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.

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Authors and Affiliations

  1. College of Electrical and Information Engineering, Hunan University, Changsha, Hunan, 410082, China

    Yaonan Wang, Jinzhu Peng, Wei Sun, Hongshan Yu & Hui Zhang

  2. School of Electrical Engineering, Zhengzhou University, Zhengzhou, Henan, 450001, China

    Jinzhu Peng

Authors
  1. Yaonan Wang
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  2. Jinzhu Peng
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  3. Wei Sun
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  4. Hongshan Yu
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  5. Hui Zhang
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Corresponding author

Correspondence to Yaonan Wang.

Additional information

This work was supported by the Cultivation Fund of the Key Scientific and Technical Innovation Project, Ministry of Education of China (No.706043), Hunan Provincial Natural Science Foundation of China (No.06JJ50121) and the National Natural Science Foundation of China (No.60775047).

Yaonan WANG received the M.S. and Ph.D. degrees in Electrical Engineering from the Hunan University, China, in 1991 and 1994, respectively. From 1994 to 1995 he was a postdoctoral research fellow in the National University of Defense Technology, studying intelligent robot control and image processing of satellite remote sensing. He is currently a professor in the Department of Electrical and Information Engineering at Hunan University, Changsha, China. He is also the Director of National Engineering Research Center for Computerized Numerical Control. His research interests are intelligent robot control, pattern recognition, computer integrated manufacturing (CIMS), intelligent information processing, industrial process control, computer networks system, Integrated circuit card and image recognition.

Jinzhu PENG was born in 1980. He received the B.S. and M.S. degrees from the Department of Automation Engineering, Hunan University, China in 2002 and 2005, respectively. He is currently a Ph.D. candidate of College of Electrical and Information Engineering, Hunan University. His research interests are robust control, neural networks and robotics.

Wei SUN received his B.S., M.S. and Ph.D. degrees from the Department of Automation Engineering, Hunan University, China in 1997, 1999 and 2002, respectively. He is currently working as a professor at the College of Electrical and Information Engineering, Hunan University. His areas of interests are neural networks, intelligent and robotics.

Hongshan YU received his B.S., M.S. and Ph.D. degrees from the Department of Automation Engineering, Hunan University, China in 2001, 2003 and 2007, respectively. He is currently an associate professor at the College of Electrical and Information Engineering, Hunan University. His research interests are mobile robot and SLAM.

Hui ZHANG received the B.S. and M.S. degrees from the Department of Automation Engineering, Hunan University, China in 2004 and 2007, respectively. He is currently a Ph.D. candidate of College of Electrical and Information Engineering, Hunan University. His research interests are mobile robot and neural network.

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Wang, Y., Peng, J., Sun, W. et al. Robust adaptive tracking control of robotic systems with uncertainties. J. Control Theory Appl. 6, 281–286 (2008). https://doi.org/10.1007/s11768-008-6147-6

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  • DOI: https://doi.org/10.1007/s11768-008-6147-6

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