Robust Tracking Control for a Kind of Robot Traces

Abstract

The n-joint robot dynamical model based on the Lagrange equation is transformed into a linear state equation.By using the Lyapunov function methods,a feed-forward controller and a feedback controller are designed for the nominal system and the system with external-uncertain disturbances respectively.The feed-forward controller makes the practical robot trace in nominal system converge to the desired one with an exponential convergence rate,while the feedback controller makes the error be bounded in terminal value under the condition of external-uncertain disturbances.The simulation shows that the continuous robust feedback controller is very effective in the presence of external-uncertain disturbances.