Robust tracking control of a robot arm actuated by permanent magnet synchronous motors

Abstract

Abstract In this article, we show the use of the recently developed enhanced extended observer design technique in tracking time‐dependent references by a PMSM‐actuated robot arm. It is proven that this robust control framework guarantees achievement of semiglobal practical stability and makes trajectories of the system arbitrarily close to those that would had been obtained by the non‐robust nominal feedback‐linearizing control if there were no plant uncertainties.