Practical output regulation of robotic manipulators: A comparison study

Abstract

The nonlinear dynamics and uncertainties of robotic manipulators necessitate advanced control strategies to ensure precise output regulation under challenging conditions. This paper compares three control methodologies: Computed Torque Control (CTC), Sliding Mode Control (SMC), and an Internal Model-Based Approach (IMB) with Differential-Algebraic Representation. Experimental validation on the KUKA LWR IV+ robotic manipulator highlights differences in their performance across scenarios involving varying payloads and modeling inaccuracies. The analysis emphasizes the trade-offs among control effort, error convergence, and robustness, offering insights into the suitability of each approach depending on the application’s requirements.