Operator-Based Robust Nonlinear Control for a Manipulator with Human Multi-Joint Arm-Like Viscoelastic Properties

Abstract

In this paper, operator-based robust nonlinear tracking control for a manipulator with human multi-joint armlike viscoelastic properties is considered by using the robust right coprime factorization approach and a forward compensation operator. First, an operator controller based on real measured data from human multi-joint arm viscoelasticity is designed to obtain a desired motion mechanism, the forward compensation operator is presented to compensate the term related to the effect of the central nervous system (CNS), and a nonlinear feedback control scheme is proposed to eliminate effect of the uncertain plant. Second, the robust stability of the present control system is discussed, and the performance of output tracking is realized. Finally, the effectiveness of the proposed method is confirmed by the simulation results based on experimental data.