Robust adaptive trajectory tracking independent of models for robotic manipulators

This article proposes a robust adaptive trajectory control scheme for robot ic trajectory tracking under uncertainties. The control scheme is globally exponentially convergent without the knowledge of the robotic dynamics and is simple in structure with a small computation. It can make the trajectory error convergent to an arbitrary small region. Lyapunov approach is used t o analyze the stability and the robustness of this control scheme. Experime nts on a two-link direct-drive robotic manipulator verify the validity of t he proposed control scheme. (C) 2001 John Wiley & Sons, Inc.