To deal with the uncertainty factors of robotic systems,a robust adaptive tracking controller is proposed. The knowledge of the uncertainty factors is assumed to be unidentified; the proposed controller can guarantee robustness to parametric and dynamics uncertainties and can also reject any bounded,immeasurable disturbances entering the sys-tem. The stability of the proposed controller is proven by the Lyapunov method. The proposed controller can easily be implemented and the stability of the closed system can be ensured; the tracking error and adaptation parameter error are uniformly ultimately bounded (UUB). Finally,some simulation examples are utilized to illustrate the control performance.
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