Constraint-Following Servo Control for the Trajectory Tracking of Manipulator with Flexible Joints and Mismatched Uncertainty

Trajectory tracking is a common application method for manipulators. However, the performance hard to improve if manipulators contain flexible joints and mismatched uncertainty, especially when trajectory nonholonomic. On basis of Udwadia–Kalaba Fundamental Equation (UKFE), prescribed position or velocity trajectories are creatively transformed into second-order standard differential form. The constraint force generated by obtained in closed form with help UKFE. Then, high-order fractional type robust control an embedded fictitious signal proposed achieve practical stability system, even uncertainty exists. Only bound indispensable, rather than exact information. A leakage adaptive law estimate such bound. By introducing dead-zone, will be simplified specific parameter enters certain area. Validity controller verified numerical simulation two-link joint manipulator.