An Uncertainty-Attenuating Controller for Mechanical Manipulators with Electromechanical Dynamics

It is known that the cross-coupled non-linear electromechanical dynamics of motor-manipulator systems is more complex than when only the mechanical dynamics is considered. In this paper, control of manipulators with non-negligible motor dynamics is studied and a control strategy is developed for achieving ease of controller design and high control performance. By using the developed algorithm not only can the highly complicated electromechanical dynamics be effectively controlled, but also the motors are made ‘sensible’ to sense and compensate for the uncertain dynamics acting at the manipulator joints. What is more, as an encouraging by-result, the difficulty and complexity in modelling and controlling such systems can be reduced significantly.