Robust Control of Robotic Manipulators in the Presence of Dynamic Parameter Uncertainty

[+] Author and Article Information
J. K. Mills, A. A. Goldenberg

Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Toronto, Ontario, Canada M5S 1A4

J. Dyn. Sys., Meas., Control 111(3), 444-451 (Sep 01, 1989) (8 pages) doi:10.1115/1.3153074 History: Received August 01, 1987; Revised September 01, 1988; Online July 21, 2009


Sufficient conditions are proved for a robotic manipulator controller so that asymptotic tracking/regulation occurs, independent of dynamic parameter uncertainty, for a certain class of input signals. The uncertainty can be quite large, and arise chiefly from the manipulation of payloads with unknown mass/inertia properties. The control is obtained using a robust controller which consists of two separate parts: 1) a compensator which makes the closed-loop robotic system insensitive to parameter uncertainty and generates asymptotic regulation of a certain class of input signals and 2) a stabilizing compensator, whose purpose is to stabilize the closed-loop system. Stability of the closed-loop system is guaranteed by choosing large feedback gains. In addition to the above, it is also shown that the proposed feedback controller provides an arbitrarily small tracking error capability for the particular class of input trajectories.

Copyright © 1989 by ASME
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