Adaptive Tracking Control for Uncertain Robot Manipulator with Additive Disturbance

In this paper, we present a continuous control mechanism that compensate the parameter linearizable uncertainty in a 6-link robot manipulator system under both repeating and non-repeating disturbance. The control strategy is based on limited assumption on the system nonlinearities. A semi-global asymptotic tracking result is achieved while all the closed-loop states remain bounded.