アクチュエータの動特性を考慮したロボットマニピュレータのL₂ゲイン外乱抑制型ロバスト軌道追従制御

抄録

This paper develops a tracking control problem of rigid-link electrically-driven robot manipulators with uncertainty. We extend a research line of the corrective robust tracking control scheme given by Dawson et al. (1992) to construct such a Lyapunov function that ensures not only stability of a tracking error system but also an L₂-gain constraint for a tracking performance. A robust tracking controller with L₂-gain disturbance attenuation is designed such that the closed-loop error system is globally stable in the sense of uniform ultimate bounded stability with the L₂-gain less than any given small level.