Finite-time robust control of robot manipulator

摘要

This paper proposes a finite-time robust control law for a nonlinear, uncertain robot manipulator. Load variations and unmodeled system dynamics of manipulator are the primary sources of uncertainties. The dynamics of the manipulator is modeled in State-Dependent Coefficient (SDC) form to consider all nonlinear term in system dynamics. To control such uncertain system a robust control law is essential. An optimal control approach is adopted to design the proposed robust control law. The control input is generated by solving a State-Dependent Differential Riccati Equation (SDDRE) in forward in time. Here the analytical solution of SDDRE is used to compute control law. The designed control law ensures the stability analytically and numerically in the presence of bounded uncertainty.