Trajectory tracking control of robot manipulators using a neural-network-based torque compensator

In this paper, an adaptive neural-network-based torque compensator is developed for the trajectory-tracking control of robot manipulators. The overall control structure employs a classical non-linear decoupling controller for actuating torque computation based on an approximated robot dynamic model. To suppress the effects of uncertainties associated with the estimated model, a supplementary neural network algorithm is developed to generate compensation torques. The weight adaptation rule for this neuro-compensator is derived on the basis of the Lyapunov stability theory. Both global system stability and the error convergence can then be guaranteed. Simulation studies on a two-link robot manipulator demonstrate that high performance of the proposed control algorithm could be achieved under severe modelling uncertainties.