Design parameters and uncertainty bound estimation functions for adaptive-robust control of robot manipulators

Authors

RECEP BURKAN

DOI

10.3906/elk-1007-628

Abstract

In this paper, a parameter and uncertainty bound estimation functions for adaptive-robust control of robot manipulators are developed. A Lyapunov function is defined and parameters and uncertainty bound estimation functions are developed based on the Lyapunov function. Thus, stability of an uncertain system is guaranteed and uniform boundedness of the tracking error is achieved. As distinct from previous parameter and bound estimation laws, the parameters and uncertainty bounds are updated as a function of a combination of trigonometric function depending on robot parameters and tracking error. Based on the same Lyapunov function, a robust control law is also defined and the stability of the uncertain system is proved under the same set of conditions. Simulation results are given to illustrate the tracking performance of the proposed adaptive-robust controller.

Keywords

Robust control, adaptive control, robot manipulators, parameter uncertainty, adaptive-robust control, stability analysis

First Page

169

Last Page

186

Recommended Citation

BURKAN, RECEP (2012) "Design parameters and uncertainty bound estimation functions for adaptive-robust control of robot manipulators," Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 20: No. 1, Article 14. https://doi.org/10.3906/elk-1007-628
Available at: https://journals.tubitak.gov.tr/elektrik/vol20/iss1/14