Trajectory Tracking Control for Robotic Arms with Uncertain Input Gain

Robotic manipulators encounter challenges such as modeling errors, external disturbances, and uncertain input gain during trajectory tracking control. This paper presents a control strategy for a single-link robotic manipulator to enhance tracking precision and speed. First, the uncertain input gain and external disturbances are transformed into an equivalent disturbance through a mathematical formulation. Next, a disturbance observer is designed to estimate this equivalent disturbance, which is incorporated into the control framework to achieve precise trajectory tracking. Finally, the stability of the system is validated through Lyapunov function analysis. Simulations and comparative experiments in MATLAB/Simulink demonstrate that the proposed method significantly improves high-precision trajectory tracking, confirming its effectiveness.