Modeling and Adaptive Robust Control for an Electric Power Insurance Damage Claim Robot Joint Module

This paper studies the trajectory tracking control problem of robot joint modules. Based on the framework of constraint-following control, an adaptive robust controller is proposed. The controller is composed of two components: a nominal control term, derived from an accurate model, to stabilize the nominal system, and a robust control term to reduce the effect of uncertainties on tracking performance. Theoretical analysis and numerical simulation illustrate that the proposed control scheme ensures a satisfactory performance of the system.