Robust Control of Robotic Manipulators with Model-Based Precompensation and SMC Postcompensation

Abstract

Robust and reliable control of robotic manipulators is studied. A model-based precompensation configuration is first used to decouple and linearize the highly complicated electromechanical dynamics of robotic manipulators. Then a linear state-feedback control law is used for closed-loop control. Finally, simplified SMC is adopted to postcompensate for the resulting error dynamics of the closed-loop control system. It is shown that the intentionally introduced control redundancy will not only ensure global high performance for the resulting system, but will also provide the system with built-in high reliability.