Abstract: We consider nonlinear uncertain systems such that a
priori information of the uncertainties is not available. For such
systems, we assume that the upper bound of the uncertainties is
represented as a Fredholm integral equation of the first kind and we
propose an adaptation law that is capable of estimating the upper
bound and design a continuous robust control which renders nonlinear
uncertain systems ultimately bounded.
Abstract: The problem of controlling a two link robotic manipulator, consisting of a rotating and a prismatic links, is addressed. The actuations of both links are assumed to have unknown dead zone nonlinearities and friction torques modeled by LuGre friction model. Because of the existence of the unknown dead zone and friction torque at the actuations, unknown parameters and unmeasured states would appear to be part of the overall system dynamics that need for estimation. Unmeasured states observer, unknown parameters estimators, and robust adaptive control laws have been derived such that closed loop global stability is achieved. Simulation results have been performed to show the efficacy of the suggested approach.