Development of a Robust Control System for a Manipulative Robot Using the Gramian Apparatus

A method for the synthesis of a robust control system for a manipulative robot is developed, based on the linearization of the model of the control object, transformation of the structure of the resulting model using a precontroller in the direction of increasing controllability using the mathematical apparatus of Gramians, subsequent modal calculation of a centralized state controller (SC), and the use of synthesized devices to control the original nonlinear object. The Gramian of controllability is a Gram matrix calculated for the states of a linear dynamic system in response to a delta impulse. The proposed method makes it possible to improve the robust properties and increase the speed of the robot control system while maintaining the aperiodic nature of the processes under the conditions of the mutual influence of the links and the variation of their parameters.