On robust control of robotic manipulator systems

Abstract

This paper discusses the problem of robust control in robotic manipulator systems. The designing process can be viewed as a modified computed torque method. By introducing a sliding mode observer, we construct a robust controller which makes the error dynamics uniformly ultimately bounded. The scheme can be applied to the control of n-link robot arm with unknown but bounded payload and disturbance. Simulation of a 2-link robot arm is done.<>