Adaptive Robust Control for Robotic Systems with H_∞ Performance

Abstract

We consider the trajectory tracking problem for robot manipulators with unknown parameters, which are subject to bounded disturbances belong to L₂. We provide a state feedback adaptive robust control algorithm which guarantees arbitrary transient performance as well as arbitrary disturbance attenuation. If the disturbances vanish and the trajectory hold on a constant position, the proposed controller achieves asymptotic tracking. Instead of estimate all unknown parameters as in other methods until now, we estimate the unknown parameters only in gravitational forces vector, lead the controller to a simple one.