A mismatched composite disturbance observer‐based adaptive tracking controller for robotic manipulators

The paper is devoted to the adaptive tracking control based on the mismatched disturbance observer for motor‐driven robotic manipulators. A novel mismatched disturbance observer is introduced, which does not make bounded derivative assumptions on mismatched disturbances in the robotic manipulator system. Additionally, a new adaptive tracking controller for a motor‐driven robotic manipulator based on the mismatched disturbance observer is designed, which guarantees that all closed‐loop signals are globally uniformly bounded and the tracking error is asymptotic stable. Finally, the simulation comparisons are carried out between the proposed and existing control strategies to demonstrate the superiority of the developed controller.