Robust adaptive boundary control of a mobile vehicle mounted robotic arm system

In this brief, robust adaptive boundary control issue is taken into account for a mobile vehicle mounted robotic arm system with unknown environmental interferences and indeterminable structural parameters. Based on non-linear model expressed by a series of integral and partial differential equations, structural parameter adaptive laws are constructed for coping with uncertain parameters of structure. Moreover, interference observer is invoked as the solution to solving unknown environmental interferences. Then a suitable robust adaptive boundary control plan with high robustness is come up in this brief, which can obviously decrease arm’s vibration, precisely trace the location of joint angle and mobile vehicle, and effectively deal with unknown interference and indeterminable parameters. In the end, both Lyapunov approach and simulation serve to analyze the stability of constructed robust adaptive boundary control plan.