Robust nonlinear control design for a bio-inspired robot arm with measurement uncertainties

摘要

In this paper, a robust tracking control design for a bio-inspired robot arm with human-like motion mechanism based on human multi-joint viscoelastic properties is investigated by using robust right co-prime factorization approach. The motion mechanism and the measurement uncertainties of human multi-joint arm viscoelasticity are considered in designing operator bio-inspired controllers, and the time-varying estimated experimental data of human multi-joint arm viscoelasticity was used in simulation. Based on the proposed design scheme, the sufficient conditions for the robust stable were derived in considering the model uncertainties and the measurement uncertainties, and the output tracking performance was realized. The effectiveness of the proposed design scheme was confirmed by the simulation results based on experimental data.