Open AccessRobust Computed Torque Control for Uncertain Robotic Manipulatorss
Author(s) -
Maryam Sadeq Ahmed,
Ali Hussien Mary,
Hisham H. Jasim
Publication year - 2021
Publication title -
al-khwarizmi engineering journal/al-khwarizmi engineering journal
Language(s) - English
Resource type - Journals
eISSN - 2312-0789
pISSN - 1818-1171
DOI - 10.22153/kej.2021.09.002
Subject(s) - robustification , control theory (sociology) , robustness (evolution) , robust control , control engineering , matlab , computer science , torque , lyapunov function , lyapunov stability , control system , control (management) , engineering , artificial intelligence , biochemistry , chemistry , physics , thermodynamics , nonlinear system , quantum mechanics , electrical engineering , gene , operating system , outlier
This paper presents a robust control method for the trajectory control of the robotic manipulator. The standard Computed Torque Control (CTC) is an important method in the robotic control systems but its not robust to system uncertainty and external disturbance. The proposed method overcome the system uncertainty and external disturbance problems. In this paper, a robustification term has been added to the standard CTC. The stability of the proposed control method is approved by the Lyapunov stability theorem. The performance of the presented controller is tested by MATLAB-Simulink environment and is compared with different control methods to illustrate its robustness and performance.