Adaptive control in robotic systems with H∞ tracking performance

Abstract

The problem of the adaptive model reference tracking control with a guaranteed H ∞ performance is solved for rigid robotic systems with unknown parameters and external disturbances. A novel model for disturbance signals is introduced to improve the ability of disturbance rejection in the proposed robotic adaptive tracking control design. The proposed H ∞ adaptive tracking control design consists of an adaptive disturbance attenuation algorithm and an adaptive internal model compensation algorithm so that the tracking error can asymptotically converge to zero in the presence of disturbances. The proposed H ∞ adaptive tracking control is smooth as well as global, and suitable for practical robotic control design. Finally, a simulation example is given to exhibit the tracking performance of a two-link robotic manipulator with the proposed H ∞ adaptive control algorithm.