Robust adaptive trajectory tracking independent of models for robotic manipulators

The paper proposes a novel robust adaptive trajectory control scheme for robotic trajectory tracking under uncertainties. The control scheme is globally exponentially convergent without knowledge of robotic dynamics and simple in structure with a small computation. It can make trajectory errors convergent to an arbitrary small region. The Lyapunov approach is used to analyze the stability and robustness of this control scheme. Experiments on a two-link direct-drive robotic manipulator verify the validity of the proposed control scheme.