An intermittent controller for robotic manipulator with uncertain dynamics in task space

Abstract

An intermittent controller for robotic manipulator in the presence of dynamic uncertainties was developed in this paper. The adaptation law is designed to deal with the dynamic uncertainties. In task space, for given a desired position, the robot end-effector is able to reach the desired position under the designed intermittent controller. Different from most of the existing works on control of robotic manipulator, the designed controller only needs to receive the information of the desired position in some interval time, but not continuously. In addition, the intermittent control of robotic manipulator is discussed in task space instead of joint space. Based on an extended Barbalat’s Lemma, some simple control gains are obtained. As a direct application, we implement the proposed controller on a two-link robotic manipulator. Numerical simulations demonstrate the effectiveness of the proposed control strategy.