An Adaptive Tracking Control Method for Robotic Arms

In this paper, an adaptive tracking control method for a manipulator is proposed, including the following steps: using smooth function to approximate the control input of the manipulator system to establish a new manipulator system. Using a time delay estimation method to estimate the comprehensive uncertainty of the new robotic arm system. Based on the preset boundary constraints of the robotic arm tracking error trajectory and the comprehensive uncertainty, an adaptive controller is generated to control the robotic arm through the new robotic arm system, so that the tracking error of the robotic arm converges to the preset steady-state tracking accuracy within the preset convergence time. This method does not rely on precise dynamic models and can enable the robotic arm to track the target trajectory with predetermined accuracy and convergence time.