Polynomial-based robust adaptive tracking control of robot manipulators

This paper proposes a novel robust adaptive control strategy for trajectory tracking of robot manipulators with uncertainties. The controller which is based on a so-called polynomial structure is rather simple, and the only information required in setting up the strategy is the degree and output states of the system, while detailed description of the model is not needed. It is shown by theories and simulations that uncertain effects such as frictions and external disturbance can be eliminated and global exponential stability or global uniform ultimate boundedness stability can be guaranteed.