DECENTRALIZED ROBUST ADAPTIVE TRACKING CONTROL OF ROBOT MANIPULATORS

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.