Robust adaptive tracking control of robotic systems with uncertainties

To deal with the uncertainty factors of robotic systems,a robust adaptive tracking controller is Droposed.The knowledge of the uncertainty factors is assumed to be unidentified;the proposed controller can guarantee robustness to parametric and dynamics uncertainties and can also reject any bounded,immeasurable disturbances entering the System.The stability of the proposed controller is proven by the Lyapunov method.The proposed controller can easily be implemented and the stability of the closed system can be ensured;the tracking error and adaptation parameter error are uniformly ultimately bounded(UUB).Finally,some simulation examples are utilized to illustrate the control performance.