%0 Journal Article
	%A Ibrahim F. Jasim and  Najah F. Jasim
	%D 2010
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 44, 2010
	%T Robust Adaptive Control of a Robotic Manipulator with Unknown Dead Zone and Friction Torques
	%U https://publications.waset.org/pdf/10494
	%V 44
	%X The problem of controlling a two link robotic manipulator, consisting of a rotating and a prismatic links, is addressed. The actuations of both links are assumed to have unknown dead zone nonlinearities and friction torques modeled by LuGre friction model. Because of the existence of the unknown dead zone and friction torque at the actuations, unknown parameters and unmeasured states would appear to be part of the overall system dynamics that need for estimation. Unmeasured states observer, unknown parameters estimators, and robust adaptive control laws have been derived such that closed loop global stability is achieved. Simulation results have been performed to show the efficacy of the suggested approach.

	%P 669 - 676