Nonlinear robust control design for robotic manipulators with unmodelled actuator dynamics

A robust control design for robot tracking is introduced in which both electrical and mechanical dynamics can be compensated for. The robot dynamics under consideration include large nonlinear uncertainties as well as unmodelled dynamics. The unmodelled dynamics are assumed to be stable, but can be of any order. The nonlinear robust control developed guarantees global stability of uniform ultimate boundedness, and it requires no feedback from either the actuator or unmodelled dynamics. Moreover, the acceleration measurements of the robot links are avoided in the control scheme.