This paper presents a novel robust decentralized control for robots. It follows the design procedure for a class of interconnected nonlinear mechanical systems presented recently in [8]. The rationale under this design procedure is to compensate high-order interconnections in states among subsystems. The resulting controller is extremely simple, consisting of a linear state-feedback plus a signal designed to compensate for the coupling among the joints, parameter uncertainty and bounded disturbances. The implementation of the controller needs no robot model knowledge. This feature plus its suitability for parallel processing implementation makes the proposed controller a promise for a robot to perform fast-tracking tasks. Experiment results are included to illustrate the performance of this controller.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.