Adaptive constraint-following control for maintenance robotic manipulator with uncertainties

To enhance the reliability and motion stability of the maintenance robotic manipulator system for armored vehicles, we propose a novel adaptive robust control methodology based on the Udwadia-Kalaba (UK) dynamic framework. To address the challenges such as parameter uncertainties and external disturbances in the system, a crucial leakage mechanism is integrated into the adaptive law, which not only suppresses the unbounded growth of the adaptive parameters under continuous disturbances, but also automatically attenuates the control gain when the error converges, significantly improving the smoothness of the controller's transient response. Finally, we validate the effectiveness of the proposed controller via co-simulation in a multibody dynamics environment.