Model-based feedforward precompensation and VS-type robust nonlinear postcompensation for uncertain robotic systems with/without knowledge of uncertainty bounds(I)

In this paper, a robust motion tracking control algorithm for robotic manipulators is proposed where the higher-order system uncertainties are taken into account. The control structure consists of two main parts: a model-based precompensation part and a robust nonlinear controller one. Specifically, with knowledge of possible upper bounds on uncertainties, we propose the nonadaptive version of robust controller. Stability and robustness issues of the controllers have been investigated via a Lyapunov method and it is shown that the proposed control algorithms are highly robust in the presence of significant system uncertainties. Finally, the computer simulation results are presented to validate the proposed algorithm.