A General and Efficient Robust Control Method for Uncertain Nonlinear Mechanical Systems

This paper presents a novel and general method for control design of linear or nonlinear mechanical systems subject to disturbances and uncertainties. This method easily allows determining simple and robust control laws which force a mechanical system to track a target trajectory, with bounded acceleration, with prefixed maximum position and velocity errors and fixed maximum convergence velocity. Method efficiency is illustrated by designing a decoupled control law, like PD control, for a three-link planar robot which has the task of periodically doing some work on given points of a rotating object.