Trajectory tracking control for robot manipulators using only position measurements

ABSTRACT

In the paper, the trajectory tracking control problem is investigated for robotic manipulators which are not equipped with the tachometers. Our contribution consists in establishing uniform asymptotic stability in closed-loop system by using the dynamic position-feedback controller with feedforward. Using Lyapunov vector function and comparison principle, we construct the non-linear controller with variable gain matrices and first-order linear dynamic compensator such that the origin of the closed-loop system is uniformly asymptotically stable. The controller is shown to be robust with respect to parameters incertainties. We illustrate the utility of our result by simulation tests with reference to a two-link planar elbow robot manipulator.

KEYWORDS:

• Mechanical system
• trajectory tracking control
• robot manipulator
• uniform asymptotic stability
• position measurement

Acknowledgments

The authors would like to thank the anonymous reviewers for their useful comments.

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was financially supported by Ministry of Education and Science of the Russian Federation in the framework of the state task [grant number 9.5994.2017/BP] .