| This thesis is devoted to the trajectory tracking control problem of robot systems with uncertainties.Firstly,by using of Denavit Hartenberg(DH)method and analytical dynamics,the Euler-Lagrange equations of motion of robot systems are established.The Euler-Lagrange equation with uncertainties is obtained by transforming the disturbance of the environment into the disturbance of the torque.Then,under some reasonable assumptions,the trajectory tracking control strategies of 6-DOF Stanford manipulator and four Mecanum wheeled mobile platform are proposed.Specifically,the chapter 3 intends to investigate the trajectory planning and tracking control for six-degrees-of-freedom(6-DOF)Stanford manipulator consisting of 3-DOF mechanical arm and 3-DOF spherical wrist.A new version of backstepping-based adaptive sliding mode controller is proposed for trajectory tracking of mechanical arm subsystem and spherical wrist subsystem.In order to grasp an object from one point to another,a special smooth continuous trajectory is planned by inverse kinematics analysis which transforms the position of the end-effector in the task space to the joint position in the joint space.After that,a multi-stage switching control strategy is proposed to achieve trajectory tracking control.This chapter 4 intends to investigate tracking control for four Mecanum wheeled mobile platform under stochastic disturbance.In the deterministic environment,the Lagrange system is obtained by using of DH method,kinematic and analytical dynamics.The stochastic oscillation in the environment is transformed into disturbance to the torque,then the stochastic Lagrangian system is established.A trajectory tracking controller is obtained by using backstepping method,such that the second moment of the tracking error arbitrarily small by adjusting the parameters and all signals of the closed-loop system are guaranteed to be bounded by probability.Simulation results are provided to demonstrate the performance of the designed control. |
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