Operator-based Robust Nonlinear Perfect Tracking Control Design to A Robot Arm with Uncertainties

In this paper, an operator-based robust nonlinear perfect tracking control for a robot arm with uncertainties is proposed by using robust right coprime factorization approach. In general, there exist unknown modeling errors in measuring structural parameters of the robot arm and external disturbances in real situations. In the present control system design, the effect of the modeling errors and disturbance on the system performance is considered to be uncertainties of the robot arm dynamics. Considering the uncertainties, an operator-based robust nonlinear perfect tracking control using robust right coprime factorization is studied. That is, first, considering the unknown uncertain plant generates limitations in obtaining the so-called universal condition, the effect of uncertain plant is eliminated by designed operator-based feedback control scheme. Second, a new perfect tracking condition is proposed for improving the trajectory of the robot arm. Finally, the effectiveness of the designed system is confirmed by simulation results.