Roboust nonlinear control of robot manipulators

Abstract

In this paper we investigate the motion control of robotic manipulators using the recently developed stable factorization approach to tracking and disturbance rejection. Given a nominal model of the manipulator dynamics, the control scheme consists of an approximate feedback linearizing control followed by a linear compensator design based on the stable factorization approach to achieve optimal tracking and disturbance rejection. Using a multiloop version of the small gain theorem [17], the applicability of the linear design techniques and the stability of the closed loop system are rigorously demonstrated.