Adaptive Tracking Control of Uncertain Robotic Manipulators

• Published in: IEEE transactions on circuits and systems. II, Express briefs Vol. 71; no. 5; pp. 2734 - 2738
• Main Authors: Zhang, Mingxu, Zhang, Zhengqiang, Sun, Meimei
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.05.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Control methods; Dynamics; End effectors; Jacobi matrix method; Jacobian matrices; Jacobian matrix; Kinematics; Manipulator dynamics; Manipulators; Observers; Robot arms; Robot control; robot manipulator; Robots; Stability; Tracking control; trajectory tracking; uncertain dynamic; uncertain kinematic; Uncertainty

This brief focuses on the tracking control problem of robotic manipulators subject to the uncertainties in both kinematics and dynamics. We use the zeroing-dynamics method to address uncertain kinematics. By adjusting the unknown Jacobian matrix of the kinematics in real-time, we can resolve the unc...