Robust Control of Robot Manipulator by Model Based Disturbance Attenuation
نویسندگان
چکیده
In this letter, a model based disturbance attenuator (MBDA) for robot manipulators is proposed and the stability of the MBDA in robot positioning problems is proved via Liapunov’s direct method. This method does not require an accurate model of a robot manipulator and takes care of disturbances or modelling errors so that the plant output remains relatively unaffected by them. The output error due to the gravity or constant disturbance can be effectively eliminated by this method.
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