Robust decentralized control of robot manipulators

Abstract

A design method for the decentralized control of manipulators is proposed. The dynamics of manipulators are firstly represented as a set of interconnected subsystems. The dynamics of the subsystems are divided into two parts: a nominal system and uncertainties. Based on the nominal system and the bounds on the uncertainties, the Riccati equation approach is used for the control design for the manipulators. Under the proposed decentralized control law, it has been shown theoretically and by simulation that manipulator systems are practically stable.