Robust Tracking Control for Robot Systems

Abstract

In this paper, we discuss a dissipativity-based approach to robust tracking problem for rigid robot. Parametric uncertainty, modeling errors and unknown disturbance are considered. First, the passivity-based tracking approach is reviewed and it is shown that the approach can be expressed as an application of Lyapunov recursive design method. Then, the approach is extended to the design problems of tracking with disturbance attenuation, robust tracking with disturbance attenuation and adaptive robust tracking. The basic idea is to construct the storage function of dissipation inequality for all uncertainties under consideration.