Robust Control of Robotic Manipulators

Abstract

This paper introduces a new control system design methodology that allows the use of linearly controlled manipulators in fast, more complex maneuvers. This is made possible by guaranteeing a prescribed degree of relative stability while constraining the system state variables and inputs. The closed-loop linear system is also assigned desirable eigenvectors. The robustness of the system is evaluated using a new measure of robustness. The design methodology is applied to a 2-D.O.F. robotic manipulator. Simulation results demonstrate that the final design must be a compromise between robustness, relative stability, and other considerations.