A Class of Decentralized Tracking Controller for Robot Manipulators

Abstract

The tracking control of a robot manipulator in the presence of uncertainties is considered, where the robot manipulator and its actuating system are treated as a set of interconnected sub-systems with bounded uncertainties. Utilizing the local states as well as the states of the connecting sub-systems, a class of decentralized continuous non-linear feedback control law is presented for the tracking problem of the robotic system. The design of the controller is based on the deterministic approach.