Adaptive control of constrained robot via factorization of the manipulator mass matrix

The problem of adaptive tracking controller method of constrained robotic system is studied in this paper. The tracking performance can be ensured by the adaptive controller strategy we proposed and all the signals remained are bounded. The control strategy takes advantage of the integral Lyapunov function combined with disturbance observer, and the closed-loop stability can be guaranteed by the designed controller. Meanwhile, the tracking errors converge to a small set whose size can be guaranteed by the appropriate design controller parameters. We illustrate the applicability of the proposed controller method with holonomically constrained planar robotic system. Simulations for a four-link constrained planar robotic system are also discussed.