Energy-Based -Disturbance Attenuation Control for Robot Manipulator With Uncertainties and Input Delay

This paper investigates the problem of -disturbance attenuation for robot manipulator with model uncertainty and input time delay. With the idea of shaping potential energy and the method of pre-feedback, a delayed Hamiltonian system structure is obtained for both full actuated and underactuated uncertain robot manipulator with time delay. Then the energy-based adaptive -disturbance attenuation controller is obtained by applying Lyapunov functional method. There spell out some sufficient conditions to guarantee the rationality and validity of the proposed control law. Simulation of a two-link robot manipulator is presented to illustrate the effectiveness of the achieved results in this paper.