A Robust Control Approach for Manipulator with Nonlinear Actuators

D. Cai (Japan)


Robust control, Robot control, Lyapunov stability, Slide mode control


For low cost and high torque output, artificial muscle ac tuators have been used for driving manipulator, but such type actuators have complex non-linearity. To control non linear actuators with some uncertainties, we present a new sliding mode controller which achieve asymptotic tracking of a desired trajectory and guarantee the globle stablity in the closed-loop system. Asymptotic stability of the closed loop tracking errorsystem is proven by means of the Lya punov synthesis. simulations on the tracking control of a 2-link planar robot arm are carried out to verify the effec tiveness of the proposed method.

Important Links:

Go Back