Discrete Robust Control of Robot Manipulators using an Uncertainty and Disturbance Estimator

TL;DR

This paper introduces a discrete-time Uncertainty and Disturbance Estimator (UDE) based robust control method for robot manipulators, enhancing tracking accuracy and reducing control energy through a combined observer-controller design.

Contribution

It develops a novel discrete-time UDE-based robust control scheme with a complete observer-controller structure for robot manipulators, including stability analysis and comparative performance evaluation.

Findings

Improved tracking performance over existing methods

Lower control energy consumption

Demonstrated robustness through simulations

Abstract

This article presents the design of a robust observer based on the discrete-time formulation of Uncertainty and Disturbance Estimator (UDE), a well-known robust control technique, for the purpose of controlling robot manipulators. The design results in a complete closed-loop, robust, controller--observer structure. The observer incorporates the estimate of the overall uncertainty associated with the plant, in order to mimic its dynamics, and the control law is generated using an auxiliary error instead of state tracking error. A detailed qualitative and quantitative stability analysis is provided, and simulations are performed on the two-link robot manipulator system. Further, a comparative study with well-known control strategies for robot manipulators is presented. The results demonstrate the efficacy of the proposed technique, with better tracking performance and lower control energy compared to other strategies.