Scientific journal
Scientific Review. Technical science
ISSN 2500-0799
ПИ №ФС77-57440

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ROBUST CONTROL FOR ACTUATOR ROBOTIC MANIPULATOR

Dyda A.A. 1 Oskin D.A. 1 Osokina E.B. 2
1 Far Eastern Federal University
2 Admiral Nevelskoy Maritime State University
The method of robust control synthesis for robotic manipulator actuator based on parameterized dynamic equations is proposed. Original equations of robotic manipulator dynamics are presented via unknown parameter vector and matrix regress of known structure. An additional variables vector is introduced. Lyapunov’s function method is applied to design a robust control system. To compensate the nonlinear components, the robust control algorithm in signal form is synthesized. Lyapunov’s function is constructed as a positively definite quadratic form with an inertial matrix of a controlled object. It is shown that the chosen control ensures asymptotic stability of control system for manipulation robot. An advantage of proposed approach is rather wide a choice of possible switching functions.