Robust Tracking Control with Disturbance Attenuation for Discontinuous Robot Manipulators

Due to discontinuous characteristic presented in the mechanism everywhere,performance of system is degraded. But not all kinds of disturbances are avoidable,it is necessary for mechanical system to have the performance of disturbance attenuation. In view of discontinuous uncertainty and external disturbances presented in robot manipulators system,a robust trajectory tracking controller with L2-gain disturbance attenuation is proposed by using the definition of Filippov solution and the related Lyapunov stability theory for nonsmooth systems. The proposed robust nonsmooth controller in Filippov's framework can guarantee the error close-loop system's stability and attenuate the external disturbances effectively. Finally,simulation results of a two degrees–of–freedom manipulator by the Matlab soft ware show the effectiveness of the proposed algorithm.