Adaptive Robust Quadratic Stabilization Tracking Control for Robotic System with Uncertainties and External Disturbances

Figure 4

The proposed adaptive robust quadratic stabilization tracking control for robotic manipulator. (a) Tracking curve of 𝑞₁, (b) tracking curve of 𝑞₂, (c) tracking errors, and (d) control torques.

(a)

(b)

(c)

(d)