Trajectory Tracking of Robotic Manipulator Based on High-Order Fully Actuated System Approach

This paper presents the design of trajectory tracking controller for robotic manipulator based on a high-order fully actuated (HOFA) system approach. The manipulator system is modeled as a fourth-order interconnected system consisting of a second-order actuator and the manipulator itself. The incorporation of the second-order actuator significantly enhances torque regulation, providing greater flexibility and improving control efficiency. To obtain the velocity and acceleration signals of the manipulator, a differentiator is introduced, which not only reduces reliance on hardware sensors, but also facilitates the construction of a well-designed disturbance observer. The tracking error of the manipulator is transformed into a high-order fully actuated form, and a trajectory tracking controller is systematically developed using the parametric design methodology of high-order fully actuated systems, ensuring high-precision trajectory tracking. Finally, simulation results demonstrate the effectiveness of the proposed approach.