H_infinity Model Reference Adaptive Control for Robot Manipulators

Abstract

 A good trajectory tracking of robotic system is very important. In this paper, a model reference adaptive control (MRAC) containing adaptive error gain with H_∞ performance, is proposed to achieve robust trajectory tracking of n-link robotic manipulator. In the presented method, the adaptive control is used to stabilize the system, compensate the parameter uncertainty, and vanish the tracking errors significantly. The stability analysis is accomplished for the proposed control scheme using Lyapunov function and linear matrix inequality (LMI). Simulation results show that the effectiveness of the proposed method. It also shows that proposed scheme can obtain robust trajectory tracking with a desired H_∞ performance γ.