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Design Parameters And Uncertainty Bound Estimation Functions For Adaptive-Robust Control Of Robot Manipulators, Recep Burkan

Turkish Journal of Electrical Engineering and Computer Sciences

In this paper, a parameter and uncertainty bound estimation functions for adaptive-robust control of robot manipulators are developed. A Lyapunov function is defined and parameters and uncertainty bound estimation functions are developed based on the Lyapunov function. Thus, stability of an uncertain system is guaranteed and uniform boundedness of the tracking error is achieved. As distinct from previous parameter and bound estimation laws, the parameters and uncertainty bounds are updated as a function of a combination of trigonometric function depending on robot parameters and tracking error. Based on the same Lyapunov function, a robust control law is also defined and …