A Tracking Control Design Based on Time-Varying Disturbance Attenuation for a 6-DOF Rigid Manipulator

In this paper a tracking control strategy has been proposed using Hamilton-Jacobi inequality to compensate for unknown disturbances applied to robot manipulators. The method can effectively attenuate constant or time-varying disturbances such as random signals affecting the input torque of robot systems. Simulations have been accomplished on a 6-DOF (Degree of Freedom) manipulator. The results show that the proposed controller yields a superior performance such as smaller control effort and better noise attenuation behavior, compared to the other methods.