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Mathematical Problems in Engineering
Volume 2013, Article ID 535437, 13 pages
Research Article

Robust Adaptive PID Control of Robot Manipulator with Bounded Disturbances

Department of Automation, Harbin Engineering University, Harbin 150001, China

Received 6 July 2013; Accepted 1 October 2013

Academic Editor: Zhiguang Feng

Copyright © 2013 Jian Xu and Lei Qiao. 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.


To solve the strong nonlinearity and coupling problems in robot manipulator control, two novel robust adaptive PID control schemes are proposed in this paper with known or unknown upper bound of the external disturbances. Invoking the two proposed controllers, the unknown bounded external disturbances can be compensated and the global asymptotical stability with respect to the manipulator positions and velocities is able to be guaranteed. As compared with the existing adaptive PD control methods, the designed control laws can enlarge the tolerable external disturbances, enhance the accuracy in finite-time trajectory tracking control, and improve the dynamic performance of the manipulator systems. The stability and convergence properties of the closed-loop system are analytically proved using Lyapunov stability theory and Barbalat’s lemma. Simulations are performed for a planner manipulator with two rotary degrees of freedom to illustrate the viability and the advantages of the proposed controllers.