JRM Vol.31 No.1 pp. 104-109
doi: 10.20965/jrm.2019.p0104


Operator-Based Robust Nonlinear Control Analysis and Design for a Bio-Inspired Robot Arm with Measurement Uncertainties

Aihui Wang*, Zhengxiang Ma**, and Jianmin Luo*

*School of Electric and Information Engineering, Zhongyuan University of Technology
41 Zhongyuan Road, Zhengzhou 450007, China
No.2, Daxue Road, Zhengzhou 450015, China

May 16, 2018
October 16, 2018
February 20, 2019
robot arm, human multi-joint viscoelastic properties, measurement uncertainties, bio-inspired controller, robust right coprime factorization

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

The proposed robust control scheme

The proposed robust control scheme

Cite this article as:
A. Wang, Z. Ma, and J. Luo, “Operator-Based Robust Nonlinear Control Analysis and Design for a Bio-Inspired Robot Arm with Measurement Uncertainties,” J. Robot. Mechatron., Vol.31 No.1, pp. 104-109, 2019.
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