Robust Decentralized Trajectory Tracking Control of Robot Manipulators Based on Extended State Observer

Abstract

A detached joint decentralized robust control method based on extended state observation was developed for trajectory tracking control of robot manipulators with model uncertainty.Multiple parallel extended state observers were de- signed for estimation of unknown dynamics and external distur- bance of each joint,and the estimated states were used for non- linear feedback control and compensation to improve system per- formance.Every joint controller is completely detached,so the architecture is simple,reliable,and easy to implement.The Lya- punov stability of the proposed robust decentralized controller is analyzed,and the global uniform ultimate boundedness stability with exponential convergence is proved.The method is validated by simulations of PUMA560 robot manipulator control.