Document Type : Original Article

Authors

• Reza Gholipour ¹
• Mohammad Reza Shokoohinia ²
• Mojtaba Shokohinia ³

¹ Department of Electrical and Computer Engineering, Babol Noshirvani University of Technology, Babol, Iran

² Department of Electrical and Robotic Engineering, Shahrood University of Technology, Shahrood

³ Department of Electrical Engineering, Da.C., Islamic Azad University, Damghan, Iran

Abstract

This paper proposes a continuous adaptive state-feedback controller for the tracking control of robot manipulators subject to lumped uncertainty, encompassing unknown dynamics and external disturbances. The dynamic model of the robot manipulators is initially derived. Subsequently, an adaptive controller based on the state-feedback method is formulated. To eliminate the requirement of knowing the upper bound of the lumped uncertainty during the controller design process, an adaptive law is proposed for the online estimation of the lumped uncertainty. Additionally, a continuous robust control term is designed to compensate for the lumped uncertainty estimation error. The proposed controller comprises three distinct terms: the first provides state feedback, the second facilitates uncertainty estimation, and the third serves as a continuous robust controller. Utilizing the Lyapunov stability method, it is proved that the tracking errors converge asymptotically to zero. Finally, simulation results validate the effectiveness of the proposed adaptive state-feedback method.

Keywords

• State-feedback control
• Robot manipulators
• Continuous robust control
• Lumped uncertainty
• Lyapunov stability

Main Subjects

• Nonlinear, adaptive, robust, distributed, and data-driven control