Robust nonlinear control of robotic manipulators

摘要

Abstract A robust nonlinear control strategy is proposed to deal with the control problem of robotic manipulators with second order nonlinear actuator dynamics. The control scheme is composed of two stages: the nominal dynamics stage and the perturbed dynamics stage. The control at the nominal dynamics stage and the perturbed dynamics stage. The control at the nominal dynamics stage is aimed at exact linearization and input/output decoupling of the nonlinear actuator‐manipulator system in the task space by nonlinear feedback and nonlinear state space diffeomorphic transformations. The resulting closed‐loop nominal system is capable of precise trajectory following in a desired second‐order linear behavior. To compensate uncertainties in a practical situation, an optimal error correcting compensator is designed to achieve some robustness at the perturbed dynamics stage. Simulation study of a cylindrical robot is given to illustrate the effectiveness of the proposed scheme.