FEEDBACK LINEARIZATION-BASED ∞ ROBUST CONTROL OF N-LINK MANIPULATORS: A COMPARISON WITH SLIDING MODE CONTROL

Manipulators are widely used for various purposes such as carrying load or maintaining high-altitude facilities. In real conditions, there are frequently uncertainties and disturbances in which these robotic systems may not be able to track the desired path and be placed at the right point. Thus, while modelling, it is significant to propose a controller that is robust against uncertainties and disturbances. This article proposes a robust control based on ∞ control for n-weighted links manipulators. To this aim, nonlinear dynamic of the system is first linearized using feedback linearization and then robust controller is designed for manipulators. Simulations are conducted using MATLAB for a 2R manipulator and to verify the results, sliding mode controller which has robust structure is presented. According to results, both controllers are capable to lead the robot and have effective function. Moreover, proposed controller is able to direct the robot in the desired path with acceptable tracking error of 0.06 m comparing to 0.04 m for sliding mode control. also, it is illustrated that torques consumed by links in ∞ robust control is lower than that of sliding mode control.

Keywords:

Manipulator , feedback linearization , ∞ robust control , sli-ding mode control , uncertainty