Abstract:In this paper, an operator-based robust nonlinear perfect tracking control for a robot arm with uncertainties is proposed by using robust right coprime factorization approach.In general, there exist unknown modeling errors in measuring structural parameters of the robot arm and external disturbances in real situations. In the present control system design, the effect of the modeling errors and disturbance on the system performance is considered to be uncertainties of the robot arm dynamics. Considering the unc… Show more
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