Nonlinear Perfect Tracking Control for a Robot Arm with Uncertainties Using Operator-Based Robust Right Coprime Factorization Approach
Aihui Wang*, Dongyun Wang*, Haiquan Wang*, Shengjun Wen*, and Mingcong Deng**
*School of Electric and Information Engineering, Zhongyuan University of Technology
41 Zhongyuan Road, Zhengzhou 450007, China
**Graduate School of Engineering, Tokyo University of Agriculture and Technology
2-24-16 Nakacho, Koganei, Tokyo 184-8588, Japan
In this paper, a robust nonlinear perfect tracking control for a robot arm with uncertainties is proposed by using operator-based robust right coprime factorization approach. In general, there exist unknown modelling errors in measuring structural parameters of the robot arm and external disturbances in real situations. In the present control system design, the effect of the modelling errors and disturbances on the system performance is considered to be uncertainties of the robot arm dynamics. Considering the uncertainties, a robust nonlinear perfect tracking control using operator-based robust right coprime factorization is investigated. That is, first, considering the unknown uncertain plant generates limitations in obtaining the so-called universal stability and tracking conditions, the effect of uncertain plant is compensated by designed operator-based feedback control scheme. Second, a new perfect tracking condition is proposed for improving the trajectory of the robot arm. Finally, the effectiveness of the designed system is confirmed by simulation results.
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