A new type of robust tracking control of robot manipulators based on generalized SP-D control scheme

This paper is concerned with a new type of robust tracking control scheme for robot manipulators using SP-D (saturated proportional and differential) feedback loops. The control scheme based on quasi-natural potential is generalized from set-point regulation to trajectory tracking by exploiting an effective auxiliary variable with positional and velocity errors. Without any uncertainties in the manipulator model, the tracking SP-D control scheme ensures globally asymptotic stability. In the presence of parametric model uncertainties, the proposed robust tracking controller is able to guarantee globally uniformly ultimate boundedness. Experimental results on the SICE standard manipulator show theoretical effectiveness of the robust tracking SP-D control