robust adaptive tracking control of a class of robot manipulators with model uncertainties类的鲁棒自适应跟踪控制的机器人机械手模型不确定性.pdf

Hindawi Publishing Corporation Modelling and Simulation in Engineering Volume 2012, Article ID 271705, 7 pages doi:10.1155/2012/271705 Research Article Robust Adaptive Tracking Control of a Class of Robot Manipulators with Model Uncertainties ´ 1 ´ 2 G. Solıs-Perales and R. Peon-Escalante 1 Departamento de Electronica, CUCEI Universidad de Guadalajara, Avenida Revolucion No. 1500, 44430 Guadalajara, JAL, Mexico ´ ´ 2 Facultad de Ingenierıa, Universidad Autonoma de Yucatan, Avenida Industrias no Contaminantes, Apdo. Postal 150 Cordemex, ´ ´ ´ Merida, Yucatan, Mexico ´ ´ ´ Correspondence should be addressed to G. Solıs-Perales, gualberto.solis@cucei.udg.mx Received 17 April 2012; Accepted 13 June 2012 Academic Editor: Ahmed Rachid ´ ´ Copyright © 2012 G. Solıs-Perales and R. Peon. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. A robust tracking controller for robot manipulators measuring only the angular positions and considering model uncertainties is presented. It is considered that the model is uncertain; that is, the system parameters, nonlinear terms, external perturbations, and the friction effects in each robot joint are considered unknown. The controller is composed by two parts, a linearizing-like control feedback and a high-gain