A robust controller design for robot manipulators with actuator dynamics

구동기의 동특성을 고려한 로봇매니퓰레이터의 강인제어기 설계

In this paper, a robust controller is proposed to achieve an accurate tracking for an uncertain nonlinear plant with actuator dynamics. The extent of parameter uncertainty can be quantified by using linear parameterization technique. A switching controller is proposed to guarantee the global asymptotic stability of the plant. In order to eliminate the chattering caused by the switching controller, a smoothing controller is designed using the boundary layer technique around the sliding surface and guarantees the uniform ultimate boundedness of the tracking error.