Robust Adaptive Inverse Dynamics Control for Uncertain Robot Manipulator

On the basis of inverse dynamics controller as a nominal control portion, two types of novel robust adaptive inverse dynamics control schemes are proposed for the trajectory tracking control of robot manipulator with uncertain dynamics. They are composed of an adaptive fuzzy control algorithm and a nonlinear H∞ tracking control model. The adaptive fuzzy control algorithm is employed to approximate the structured uncertainties, and the nonlinear robust H∞ control model is designed to eliminate the effects of the unstructured uncertainties and approximation errors. The tuning parameters in the adaptive fuzzy control algorithm are derived through the Lyapunov method. Comparison studies of their control performances with the conventional inverse dynamics controller are carried out, and their validity is demonstrated by numerical simulations of a two-link rotary robot manipulator.