Robust Control of Robot Manipulator based on Estimation of Upper Bounds on Parametric Uncertainty

This paper proposes a robust control law for trajectory tracking problem of an n-link robot manipulator subjected to parametric uncertainty. The control law is derived based on Lyapunov theory, which guarantees asymptotic stability of the system. The upper bounds on the parametric uncertainties are determined with estimation law and an additional control input is updated according to the estimated value. The proposed methods improve tracking performance and provide less control effort with no chattering effect in control torques. The simulation results of 2-link robot manipulator are presented to validate the effectiveness of the proposed method.