Robust time-optimal feedback control of robotic manipulators with motor dynamics and parameter variations

In order to have a deep insight into the dynamics and the problem of optimization of robots, it is necessary to take into account nonlinear dynamics and uncertainties. In this paper, the nonlinear model of manipulator with DC motors is derived. The concept, theory, and problems that are pertinent to the synthesis of mathematical models and the robust minimum-time controllers design are discussed. A robust optimization procedure for nonlinear uncertain systems is described. The results of synthesis of the robust minimum-time control strategy are presented based upon minimization of a new class of nonquadratic indexes. The proposed scheme is feasible and provides the computational efficiency. A typical example of j-th coordinate of the manipulator with DC motor is treated