This paper addresses a long-standing yet well documented open problem on task-space trajectory tracking control of robotic manipulators subject to both uncertain dynamics and uncertain kinematics. The main contribution is to establish a theoretical framework for designing an observer-based controller to achieve exponential tracking control. Two observers are designed for precisely estimating the uncertain kinematics and dynamics. It is theoretically proved that the entire observer-controller system is proved to be globally exponentially stable. Both the estimation errors and the trajectory tracking error can globally exponentially converge to their stable equilibrium points, respectively. To the best knowledge of the author, this works may be the first result for robot exponential tracking control. The tracking performance is, therefore, more robust to system uncertainties. The settling time of the closed-loop tracking error system can be tuned to be small arbitrarily. Experimental tests are also conducted to validate the effectiveness of the designed control framework.

中文翻译：

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具有不确定动力学和运动学的机器人操纵器的指数跟踪控制


本文解决了一个长期存在但有据可查的开放问题，即机器人操纵器的任务空间轨迹跟踪控制，受不确定动力学和不确定运动学的影响。主要贡献是建立了设计基于观测器的控制器以实现指数跟踪控制的理论框架。两个观察器被设计用于精确估计不确定的运动学和动力学。从理论上证明了整个观测器-控制器系统是全局指数稳定的。估计误差和轨迹跟踪误差都可以分别全局指数地收敛到其稳定平衡点。据作者所知，这项工作可能是机器人指数跟踪控制的第一个成果。因此，跟踪性能对系统不确定性更加稳健。闭环跟踪误差系统的稳定时间可以任意调小。还进行了实验测试来验证所设计的控制框架的有效性。