• Corpus ID: 123874896

Evaluation of Three Nonlinear Control Methods to Reject the Constant Bounded Disturbance for Robotic Manipulators

  title={Evaluation of Three Nonlinear Control Methods to Reject the Constant Bounded Disturbance for Robotic Manipulators},
  author={Amir Aminzadeh Ghavifekr and Saeed Pezeshki and Arash Arjmandi},
In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which are composed of integral action and tracking controllers. The goal is improving the accuracy of tracking procedure for a robot manipulator to track a specified reference signal in the presence of constant bounded disturbances. Inverse dynamics controller, improved Lyapunovbased controller with integral action… 

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