Comparative Study of Robust Saturation-Based Control of Robot Manipulators: Analysis and Experiments

Abstract

This article presents two proposed saturation-based robust con trol methods for robot manipulators and a comparison with their counterpart published coritrol laws. Both analytical and experimental comparisons are conducted following a classifi cation of the control methods according to their basic model formulations. Experimental results have shown the outstand ing performance of the proposed control methods. The best tracking performance was achieved under the proposed control method based on dynamic model decomposition, which deals with different sources of uncertainty separately and possesses an enhanced fine-tuning ability. Discussions and insights gained from our experiments are also presented.