Exponential Tracking Control of Robotic Manipulators With Uncertain Dynamics and Kinematics

This paper addresses a long-standing yet well documented open problem on task-space trajectory tracking control of robotic manipulators subject to both uncertain dynamics and uncertain kinematics. The main contribution is to establish a theoretical framework for designing an observer-based controller to achieve exponential tracking control. Two observers are designed for precisely estimating the uncertain kinematics and dynamics. It is theoretically proved that the entire observer-controller system is proved to be globally exponentially stable. Both the estimation errors and the trajectory tracking error can globally exponentially converge to their stable equilibrium points, respectively. To the best knowledge of the author, this works may be the first result for robot exponential tracking control. The tracking performance is, therefore, more robust to system uncertainties. The settling time of the closed-loop tracking error system can be tuned to be small arbitrarily. Experimental tests are also conducted to validate the effectiveness of the designed control framework.