An adaptive robust quadratic stabilization tracking controller with hybrid scheme is proposed for robotic system with uncertainties\r\nand external disturbances. The hybrid scheme combines computed torque controller (CTC) with an adaptive robust compensator,\r\nin which variable structure control (VSC) and H8 optimal control approaches are adopted. The uncertain robot manipulator is\r\nmainly controlled by CTC, the VSC is used to eliminate the effect of the uncertainties and ensure global stability, andH8 approach\r\nis designed to achieve a certain tracking performance of closed-loop system. A quadratic stability approach, which allows separate\r\ntreatment of parametric uncertainties, is used to reduce the conservatism of the conventional robust control approach. It can be also\r\nguaranteed that all signals in closed-loop system are bounded.The validity of the proposed control scheme is shown by computer\r\nsimulation of a two-link robotic manipulator.
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