Fully Actuated System Approach to Trajectory Tracking Control of Robot Manipulator with Disturbance

In this paper, a fully actuated system approach is proposed for the trajectory tracking problem of robotic manipulators with external disturbance. For the case of tracking a constant or slow time-varying signal in the presence of constant or slow time-varying disturbances, a generalised PID control scheme is proposed, which realises asymptotical tracking to a prescribed signal and also guarantees that the state derivatives of certain orders converge to the origin. Firstly, the fully actuated mondel for the robot manipulators system is derived from the original dynamic equations. Then, by using the full-actuation characteristic of the obtained fully actuated system, the nonlinearity in the system is completely canceled and a linear time-invariant system with arbitrarily assignable eigenvalues is derived. Finally, the generalized PID control law is designed for the problem of trajectory tracking, and the parametric design method of the control scheme is given. Simulation results reveal the effect of the proposed control approach.