A robust control design for an uncertain nonlinear robotic system

Abstract

The nonlinear model-based manipulator control system is a good approach to manipulator control when parameters are known and the control computer is sufficient powerful. However, these parameters are inevitably in error, the unmodeled effects may be state-dependent, and the control may also not exactly compensate the nonlinear items. This paper offers a robust control design for an uncertain nonlinear robotic system. This designed robust control law provides the robust relative stability with the designed closed-loop system poles robustly locating in a vertical strip on the left-half complex plane in face of the parameter errors and state-dependent perturbations.