Robust Tracking Control of Robot Manipulator Using Dissipativity Theory

摘要

The robust controller is designed for the problem of rigid robot tracking, which based on the dissipativity theory. The quadratic form dissipative feedback control law was given for interference suppression under the condition of existing model error and external disturbance. The scheme improved the robustness of the system. The simulation results show that the algorithm can achieve rapid tracking of the robot system.