White Paper: Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators

We address the problem of robust tracking control using a PD-plus-feed forward controller and an intelligent adaptive robust compensator for a rigid robotic manipulator with uncertain dynamics and external disturbances. A key feature of this scheme is that soft computer methods are used to learn the upper bound of system uncertainties and adjust the width of the boundary layer base.

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In this note, motivated by the PD-plus-feedforward control idea and Man’s work, a new intelligent adaptive robust control scheme is proposed for robot manipulators with model uncertainties and external disturbance. The novel control scheme proposed in this paper contains a PD plus-feedforward part and an intelligent robust compensational part.

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