Robust Nonlinear Multivariable Tracking Control Design for A Human-Simulated Robot Arm using Operator Approach

In this paper, an operator based multivariable tracking control design for a robot arm with human-simulated motion mechanism based on human multi-joint viscoelastic properties is proposed by using robust right coprime factorization approach. That is, first, considering the uncertainties of dynamic model consist of measurement error and disturbances, an operator based nonlinear robust stable control system is designed using robust right coprime factorization approach, an operator controller is designed to obtain the desired human-simulated motion mechanism based on real measured human multi-joint arm viscoelasticity data, and the condition of robust stability is derived in considering the coupling effects. Secondly, a robust nonlinear multivariable tracking system is proposed for improving the trajectory of the robot arm, and the output tracking performance is evaluated. Finally, the effectiveness of the proposed design scheme is confirmed by the simulation results based on experimental data.