Robust Adaptive Controller for Robot Manipulator Based on Desired Trajectory Compensation
基于期望轨迹补偿的机器人鲁棒自适应控制

A robust adaptive controller with guaranteed transient performance under a desired compensation adaptation law is developed for trajectory tracking control of robot manipulator in the presence of parametric uncertainties and external disturbances.With some modifications to the conventional adaptation law,a new control law is redesigned by combining the design methodologies of adaptive control and sliding mode control.The adaptive scheme has best computationally efficient for real-time calculating of the reg...