Adaptive Tracking Control for Uncertain Robot Manipulator with Additive Disturbance

  • Xian Bin
  • Published 2006 in 2007 Chinese Control Conference


In this paper, we present a continuous control mechanism that compensate the parameter linearizable uncertainty in a 6-link robot manipulator system under both repeating and non-repeating disturbance. The control strategy is based on limited assumption on the system nonlinearities. A semi-global asymptotic tracking result is achieved while all the closed… (More)


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