Nonlinear Robust Control Design For Robot Manipulators With Unmodeled Actuator Dynamics

In this paper, a robust control design for robot tracking is introduced in which both electrical and mechanical dynamics can be compensated for. The robot dynamics under consideration include large nonlinear uncertainties as well as unmodeled dynamics. The unmodeled dynamics are assumed to be stable, but can be of any order. The nonlinear robust control developed guarantees global stability and it requires no feedback from either the actuator or unmodeled dynamics. The design is developed using a state transformation and Lyapunov\u27s direct method