An Adaptive Robust Control for Trajectory Tracking Of a Robotic Manipulator System

Bin Ren, Yao Wang, Lilan Liu, Xiaowei Tu, Rogelio Lozano

The conventional adaptive control algorithm has a very high real-time requirement for six degrees-of-freedom (DOF) series robotic manipulator system. When the unknown parameters of the robotic manipulator are mutated, it is difficult to ensure the stability of the robotic manipulator system. Aiming at this phenomenon, an optimal algorithm based on adaptive robust control is proposed. When the algorithm is applied to the robotic manipulator system, the actual trajectory at the end of the manipulator is as close as possible to the desired trajectory in the simulation. The algorithm is based on the conventional algorithm, the design of the sliding mode surface to reduce the system position error, adding robust control algorithm to compensate for the instability of the system. The simulation results show that the actual trajectory can quickly track the desired trajectory, and the position error approaches zero. 

https://doi.org/10.31871/ijntr.4.6.8