Operator-based robust non-linear control for a two-link robot arm

In this paper, a robust non-linear control scheme is proposed for a manipulator system by using the operator-based robust right coprime factorization approach. First the nonlinear feedback control scheme is proposed to eliminate effect of the uncertain plant. Second, robust stability of the present control system is discussed, and performance of output tracking is realized. Finally, effectiveness of the proposed method is confirmed by simulation results.