Robot trajectory control: Robust outer loop design using a linear controller (Q1179530)

The paper under review considers trajectory control of robotic manipulators using a robust linear control law. For a system with unknown but bounded parameters an inverse dynamic control scheme that consits of a linearizing control (inner loop) based on a nominal system, and a robust linear feedback control (outer loop) based on the uncertainty bounds are implemented. The combined system achieves partical tracking. The approach is demonstrated on single-link and two-link robots.