A Robust Controller Design for Robot Manipulators with Hydraulic Actuator Dynamics

유압구동기를 채용한 로봇 매니플레이터에 대한 강인제어기 설계

In this paper, a robust controller is proposed to achieve the accurate tracking for uncertain robot manipulators with hydraulic actuator dynamics. The parameter uncertainty can be quantified by the 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 proposed using the boundary layer technique around the sliding surface. It is shown that the smoothing controller guarantees the uniform ultimate boundedness of the tracking, error. The proposed controller shows good better tracking performance.