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Journal of Control Science and Engineering
Volume 2014, Article ID 715250, 10 pages
Research Article

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

1School of Electrical Engineering, Zhengzhou University, No. 100 of Science Road, Zhengzhou, Henan 450001, China
2Library of Zhengzhou University, Zhengzhou University, No. 100 of Science Road, Zhengzhou, Henan 450001, China

Received 17 December 2013; Revised 20 February 2014; Accepted 20 February 2014; Published 26 March 2014

Academic Editor: James Lam

Copyright © 2014 Jinzhu Peng and Yan Liu. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


An adaptive robust quadratic stabilization tracking controller with hybrid scheme is proposed for robotic system with uncertainties and external disturbances. The hybrid scheme combines computed torque controller (CTC) with an adaptive robust compensator, in which variable structure control (VSC) and optimal control approaches are adopted. The uncertain robot manipulator is mainly controlled by CTC, the VSC is used to eliminate the effect of the uncertainties and ensure global stability, and approach is designed to achieve a certain tracking performance of closed-loop system. A quadratic stability approach, which allows separate treatment of parametric uncertainties, is used to reduce the conservatism of the conventional robust control approach. It can be also guaranteed that all signals in closed-loop system are bounded. The validity of the proposed control scheme is shown by computer simulation of a two-link robotic manipulator.