Operator based robust control for robot manipulator using robust right coprime factorization

In this paper, robust control for robot manipulator is considered by using operator based robust right coprime factorization approach. In details, the right coprime factorization of one class of robot dynamics like nonlinear systems is given and an operator based control design structure is proposed. Based on the proposed control design scheme, the designed system is robustly stable. Also, output tracking performance can be realized simultaneously. Finally, a simulation example about robust control of robot manipulator is given to validate the effectiveness of the proposed method.