Trajectory Tracking Control of Uncertain Euler-Lagrange Systems: A Robust Control Approach

In this paper, we consider the trajectory tracking control problem for a class of uncertain Euler-Lagrange systems. Different from the well-known Slotine-Li control law, we propose a robust control law by immerging an internal model. It depends on the tracking error of the position and that of the velocity. By adopting the change supply function technique, we construct a strict Lyapunov function and show that all states of the closed-loop system are stable and the tracking error tends to zero asymptotically. The effectiveness of the proposed approach is illustrated by its application to trajectory tracking control of a three-link cylindrical robot arm.