Decentralized and Hierarchical Control of a Class of Robot Manipulators

摘要

This paper is concerned with the design of robust controllers for uncertain non-linear robot manipulators based on a deterministic approach. A decentralized tracking controller is presented in which the controller is designed for each subsystem based only on its local states. For the cases in which the interconnection functions between the subsystems are large, a two-level hierarchical control strategy is proposed. In designing the controllers, only the bounds on the system uncertainties are assumed to be known. It is shown theoretically and through computer simulations that the proposed controllers guarantee uniform ultimate boundedness of the error between the reference trajectory and the system output.