A New Practical Robust Control Design for Model-based Uncertain Collaborative Robot

Abstract

A new practical robust control method is proposed for uncertain collaborative robots with six degrees of freedom, improving their trajectory tracking performance. The MPDP controller combines a model-based PD control and a robust control algorithm. Lyapunov theory analysis proves that this method ensures uniform boundedness and final boundedness of the system. Simulation results show that the MPDP controller outperforms the traditional PID controller, providing better robustness and smaller steady-state tracking error.