Abstract

An improved decentralized robust adaptive control strategy for trajectory tracking of robot manipulators with uncertainties is proposed in this paper, which utilized the idea of Ming Liu (1999). This controller consists of a linear PD controller and a nonlinear adaptive feedback as well as a cubic compensation term The control law has the formation of decentralization and overcomes uncertainty effects such as frictions and external disturbance. The simulation comparison of 2-DOF rigid robot is presented to show effectiveness, feasibility and superiority of the proposed scheme.

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