Trajectory Tracking Of Uncertain Robot Manipulators With High Precise

In this dissertation, the system of uncertain robotic manipulators with entire dynamic model, namely, the robotic system with uncertainties is regarded as controlled plant and the various control schemes based on nonlinear PID (PD), adaptive control and robust compensation are developed in detail. The stability of the resulting system with various proposed scheme is analyzed, and numerical simulation performed on a two-degree-of-freedom manipulator demonstrate the effectiveness of the proposed approaches.The dissertation gives a brief description about the developing situation and control method firstly, and then the models of robot and mathematics knowledge are introduced in detail. Subsequently nonlinear PID sliding variable structure control is proposed; then control strategy with compensation control structure, which is based on nonlinear PD+feedforward, is proposed. Overall idea is that the entire effect of the unknown uncertainties of the robotic manipulators is reduced by introducing some feedforward terms; the top boundary restriction function of the entire effect of the unknown uncertainties of the robotic manipulators is simplified, robust control strategies are utilized to solve the entire effect of the unknown uncertainties of the robotic manipulators. At last, two model-free tracking control schemes are proposed, namely, decentralized sliding-mode control and robust adaptive nonlinear PD control. The analysis shows the semiglobal asymptotic stability and the numerical simulation demonstrates the effectiveness of the proposed approaches.In the last Chapter, the remarking conclusions are summarized.