A Fully-Actuated System Approach for Manipulator Systems with External Disturbance and Actuator Saturation

Disturbance rejection control has been a hot issue in the field of manipulator control, especially for nonlinear systems, because it is difficult to achieve global stability, and the expected design purpose may not be achieved. In the current control field, the second-order manipulator system is generally converted into the first-order system, which will damage the fully actuated characteristics of the system. In this paper, a controller is designed for the manipulator system with actuator saturation based on the fully-actuated system approach. By canceling the dynamic characteristics of the open-loop system, a closed-loop system with desired characteristics can be obtained, and the stabilization control of the manipulator system is realized. At the same time, the performance index of H-2 problem is solved. The simulation results show the effectiveness of the proposed method.