Robust Computed Torque Control for Uncertain Robotic Manipulatorss

  • Maryam Sadeq Ahmed Department of Mechatronics Engineering / Al-Khwarizmi College of Engineering/ University of Baghdad
  • Ali Hussien M Mary Department of Mechatronics Engineering / Al-Khwarizmi College of Engineering/ University of Baghdad
  • Hisham Hassan Jasim Department of Mechatronics Engineering / Al-Khwarizmi College of Engineering/ University of Baghdad

Abstract

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.

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References

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Published
2021-09-29
How to Cite
Ahmed, M., Mary, A., & Jasim, H. (2021). Robust Computed Torque Control for Uncertain Robotic Manipulatorss. Al-Khwarizmi Engineering Journal, 17(3), 22-28. https://doi.org/10.22153/kej.2021.09.002