Track trajectories with model uncertainty using a robust differentiator

Abstract

In this article, we present the Levant’s Robust Differentiator applied to robot manipulators whose objective is to follow a desired trajectory. The robots’ dynamic model is unknown. The velocity obtained using the Robust Differentiator is applied in the control structure in order to fulfill the tracking task. A comparative study is made between the Levant’s Robust Differentiator and the most-used techniques to calculate the velocity. Experimental results are presented.

Keywords

• índice de desempeño
• control
• dinámica de robots
• planificación y seguimiento de trayectorias
• robots manipuladores
• diferenciador robusto