Block design of robust electromechanical systems

Block procedure of feedback synthesis for controlling the position of the endpoint of a manipulator with electric actuators is designed. Local feedbacks and corrective actions of the states observer in the form of S-shaped smooth sigma-functions provide tracking of trajectories defined in the coordinate system of the manipulator endpoint. Tracking system is provided the invariance with a given accuracy with respect to the existing uncertainties subject to the restrictions on the variables of the mechanical subsystem. The developed approach does not require the solution of inverse problems of kinematics and dynamics and reduces the volume requirements of a priori information about the control plant and external actions.