Adaptive tracking control of a single-link flexible robotic manipulator system with unmodeled dynamics and motion constraint

Abstract

This paper studies the tracking control problem of a single-link flexible robotic manipulator system with unmodeled dynamics and motion constraint. A dynamic surface control scheme is proposed to design the adaptive controller ensuring both desired tracking performance and constraint satisfaction. A virtual state observer is constructed to estimate the unmeasured state signals. The RBF NNs are used to approximate unknown functions. Dynamic signal and nonlinear mapping are introduced to deal with the dynamic uncertainties and solve motion constraint problem, respectively. A simulation study is presented to verify the effectiveness of the proposed control approach.