The control of robot manipulators with bounded input: Part II: Robustness and disturbance rejection

In this paper we continue the investigations begun in [13] and [14] on the control of robot manipulators. Using the theory of uncertain dynamical systems developed in [4], [5], [16], [17] we derive a robust nonlinear control strategy with guaranteed tracking properties which can be quantified given bounds on the extent of model uncertainty, sensor noise, input disturbances, etc. We also extend the class of pointwise optimal control strategies of [13] to the case of systems with uncertainty in order to treat the problem of input constraints within the context of uncertain systems.