中文摘要：

针对具有外界干扰和不确定性的机械臂轨迹跟踪控制问题,提出了一种自适应鲁棒补偿控制算法,将计算转矩法用于系统标称模型,鲁棒控制用于消除系统不确定性的影响,并通过自适应算法自动调节不确定项,保证系统存在建模误差和外部干扰时的稳定性和动态性能。给出了具体的控制算法设计和系统稳定性、收敛性证明,最后通过仿真实验,表明系统具有跟踪误差快速收敛性以及良好的鲁棒性。

英文摘要：

A novel adaptive robust tracking control scheme is proposed for the robot manipulators with external disturbance and uncertainties. The proposed controller is comprised of a computed torque controller and adaptive robust controller. The computed torque controller is used for the nominal model and adaptive robust controller is employed to compensate the effects of the uncertainties, which can be adjusted by the adaptive law automatically to guarantee the stability and transient performance of the system. Design of control scheme procedure and proof of the stability and convergence are given in the paper. Simulation results show that the proposed control scheme can achieve fast tracking performance and good robustness.