Robot trajectory control: Robust outer loop design using a linear controller

Trajectory control of robotic manipulators is investigated using a robust linear control law. For a system with unknown but bounded parameters, we implement an inverse dynamics control scheme that consists of a linearizing control (inner loop) based on a nominal system, and a robust linear feedback control (outer loop) based on the uncertainty bounds. The control is robust in the sense that the system practically tracks (i.e., follows arbitrarily close to) the desired trajectory of position vs. time for any uncertainty within the allowed range.Recommended by M.J. CorlessThis research was supported by NSF Grant No. ECS-8805759.