A. Aminzadeh Ghavifekr - Department of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran
S. Pezeshki - Department of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran
A. Arjmandi - Department of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran

In this paper, we consider the tracking control problem for robot manipulators which are affected by constant boundeddisturbances. Three control schemes are applied for the problem, which composed of integral action and trackingcontrollers. The goal is improving the accuracy of tracking procedure for a robot manipulator to track a specifiedreference signal in the presence of constant bounded disturbances. Inverse dynamics controller, improved Lyapunovbasedcontroller with integral action and discontinuous Lyapunov-based controller are three schemes that areevaluated in this paper. Third one is a novel controller that achieves trajectory following without requiring exactknowledge of the nonlinear dynamics. Based on the disturbance rejection scheme, tracking controllers are constructedwhich are asymptotically stabilizing in the sense of Lyapunov. Furthermore the closed loop system has strongdisturbance rejection property. It is shown that how under proper assumptions, the proposed schemes succeed inachieving disturbance rejection at the input of a nonlinear system.Computer simulation results given for a two degree of freedom manipulator with a large payload and fast maneuver,demonstrate that accurate trajectory tracking can be achieved by using the proposed controllers.

Tracking Problem, Inverse Dynamic Control, Lyapunov Based Control, Disturbance Rejection