Robust tracking with control vector constraints

This paper extends the algorithm presented by Galicki (2000) for robust trajectory tracking of the manipulator subject to control constraints. The control algorithm is improved by using new control vector constraints. Moreover, the norm of the generalized maximum tracking error is used. The control algorithm presented may be implement on a microcontroller for the motion system control of the climbing robot Safari. An improvement in the quality of control is examined by simulation experiments conducted on a two degrees-of-freedom SCARA manipulator. Results of these simulations are illustrated in the paper