We consider the trajectory tracking problem for robot manipulators with unknown physical parameters and affected by bounded external disturbances. We present a non linear adaptive tracking controller by dual mode which guarantees exponential transient performance with respect to an arbitrary small residual set, resulting in arbitrary disturbance attenuation. If the disturbances vanish the controller achieves asymptotic tracking of the desired trajectory.
Adaptive/robust control; disturbance rejection; exponential tracking trajectory
