A Model-Free Approach for Output Regulation of uncertain 4 DOF Serial Robot with Disturbance

This article proposes an approach for output regulation of robotic manipulators without knowing the mathematical model of controlled objects, except their degrees of freedom. Among this approach, the non-linearity, the system uncertainties together with the input disturbances are totally combined into a lumped component which will be approximated and continuously compensated during system operation. A low-pass filter (LPF) is applied to approximate the derivation of the states of the system for optimally compensating this lumped component. The control performance of proposed model-free controller is verified peer numerical simulation on a four degree of freedom serial robot (4 DOF). The obtained simulation results reveal that this controller makes the system states tracked to the references under the influence of time varying uncertain component as expected.