Decentralized Robust Tracking Control for Uncertain Robots

Résumé du livre

The controller designed by the method proposed in this chapter consists of a feedforward and a two-loop linear time-invariant robust controller. Because the robust compensation signal is generated based on the inner signals, there is no need to know the format of uncertainties. In addition, only using local joint position feedbacks, the noise problem possibly caused by velocity measurement is avoided. The most important is that the parameter tuning is monotonic which provides the unique superiority: tuning on-line is realizable, and the bound estimation of uncertainties is not needed. These characteristics enable the controller possess favorable adaptability and be prone to be realized easily.