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Mathematical Problems in Engineering
Volume 2016, Article ID 7364216, 9 pages
Research Article

Design of Adaptive Switching Controller for Robotic Manipulators with Disturbance

1Key Laboratory of Measurement and Control of CSE, School of Automation, Southeast University, Ministry of Education, Nanjing 210096, China
2School of Information Science and Engineering, Zaozhuang University, Zaozhuang 277100, China

Received 5 March 2016; Revised 4 June 2016; Accepted 26 June 2016

Academic Editor: Yan-Jun Liu

Copyright © 2016 Zhen Yang et al. 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.


Two adaptive switching control strategies are proposed for the trajectory tracking problem of robotic manipulator in this paper. The first scheme is designed for the supremum of the bounded disturbance for robot manipulator being known; while the supremum is not known, the second scheme is proposed. Each proposed scheme consists of an adaptive switching law and a PD controller. Based on the Lyapunov stability theorem, it is shown that two new schemes can guarantee tracking performance of the robotic manipulator and be adapted to the alternating unknown loads. Simulations for two-link robotic manipulator are carried out and show that the two schemes can avoid the overlarge input torque, and the feasibility and validity of the proposed control schemes are proved.