Robust control of robot manipulators based on uncertainty and disturbance estimation

摘要

In this work, uncertainty and disturbance estimation (UDE) based robust trajectory tracking controller for rigid link manipulators was proposed. The UDE was employed to estimate the composite uncertainty that comprises the effects of system nonlinearities, external disturbances, and parametric uncertainties. A feedback linearization based controller was designed for trajectory tracking, and the same was augmented by the UDE-estimated uncertainties to achieve robustness. The resulting controller however required measurement of joint velocities apart from the joint positions. To address the issue, an observer that employed the UDE-estimated uncertainties for robustness was proposed, giving rise to the UDE-based controller-observer structure. Closed-loop stability of the overall system was established. The notable feature of the proposed design was that it neither required accurate plant model nor any information about the uncertainty. Also, the design needed only joint position measurements for its implementation. To demonstrate the effectiveness, simulation results of the proposed approach as applied to the trajectory tracking control of two-link robotic manipulator and comparison of its performance with some of the well-known existing controllers were presented. Lastly, hardware implementation of the proposed design for trajectory control of Quanser's single-link flexible joint module was carried out, and it was shown that the proposed strategy offered a viable approach for designing implementable robust controllers for robots.