Robust control using a fixed-manifold design scheme and its applications to robot manipulators

摘要

A novel scheme based on a fixed-manifold design for robust control is proposed. The phase trajectories used to describe system dynamics form a manifold in a topological space for various initial conditions. From the manifold we can therefore make their tangent bundle to construct a vector field accordingly. The basic idea of this scheme is, from a preset manifold and its vector field, to obtain the control efforts through the procedure of predicting the behavior of system dynamics and estimating perturbations, including disturbances, uncertainties, and control gain variation during every sampling interval. Because of the inevitable limitation of digital control, the bandwidth of perturbations must be assumed to be much smaller than that of sampling frequency. For validation, experiments are performed in a five-axis robot manipulator. The results indicate that this control method is very effective and has excellent robustness. © 1998 John Wiley & Sons, Inc.