On the operator and passivity based robust control for robot manipulator

In this paper, robust control for robot manipulator is considered by using passivity and operator based robust right coprime factorization approach. In details, an operator based control design structure is proposed for robot manipulator with passivity formalism controllers. Based on the proposed control design scheme, the robot manipulator is robustly stable. Also, output tracking performance can be realized simultaneously. Finally, a simulation example is given to validate the effective- ness of the proposed method.