Abstract：This paper proposes a novel decentralized robust adaptive control strategy for trajectory tracking of robot manipulators with uncertainties.The controller is very simple, and the only information required in setting up the strategy is the output states of each joint, while detailed description of the model is not needed.It is shown by theories and simulations that uncertain effects such as frictions and external disturbance can be overcome and global asymptotic stability can be warranted.
1 Fu Li-Chen.Robust Adaptive Decentralized Control of Robot Manipulators.IEEE Transactions on Automatic Control,1992,37(1):106～110 2 Orega R,Spong M W.Adaptive Motion Control of Rigid Robots:a Tutorial Automatica,1989 3 Colbaugh R,Glass K,Seraji H.Performance-based Adaptive Tracking Control of Robot Manipulators.Journal of Robotic Systems,1995,12(8):517～530 4 Dawson D M,Qu Z.On the Global Uniform Ultimate Boundedness of a DCAL-like Robot Controller.IEEE Transactions on Robotics and Automation,1992,8(3):409～413 5 Craig J J.Adaptive Control of Mechanical Manipulators.New York:Addison-wesley:1988 6 Lazano R,Brogliato B.A daptive Hybrid Force Position Control for Redundant Manipulators.IEEE Transactions on Automatic Control,1992,37(10):1501～1505 7 Seraji H.Adaptive Independent Joint Control of Manipulators:Theory and Experiment.Proc IEEE Int Conf Robotics Automation,Philadelphia,1988,PA:854～861 8 Spong M W.On the Robust Control of Robot Manipulators.IEEE Transactions on Automatic Control,1992,37:1782～1786
