Anti-disturbance PID attitude tracking control for robotic manipulators via DOBC approach

Abstract

This paper addresses the anti-disturbance tracking control problem of robotic systems with exogenous disturbances. In order to obtain the favourable tracking performance, the disturbance-observer-based-control (DOBC) method is established to monitor the value of unknown disturbances in real time and the PID controller is designed to implement dynamical tracing for the displacement of typical second-order robotic systems. By using the Lyapunov analytical method, the controller gain and the observer gain can be computed so that the dynamical tracking error of the displacement tend to zero. Finally, the second-order model of robotic system is built to simulate. The satisfactory stability and the attitude tracking of the robotic system can be obtained via the designed algorithm.