Robot 1LpMD system output control using ZD method with four-state space representation

Motors are fundamental and key components in the process of driving robotic arms. In this paper, the output-control problem of a robot 1-link-plus-motor-dynamics (1LpMD) system is investigated and solved through the Zhang dynamics (ZD) method. To lay a basis for the design of a controller, a direct derivative method (DDM) is presented to transform the description of the system from ordinary differential equations into a new four-state space representation. Then, we design a ZD controller for the output control of the robot 1LpMD system with the physical significance of the ZD control method illustrated in detail. The theoretical analysis on the performance of the proposed ZD controller is also presented with a concise proof. Simulation and comparison results are developed and shown to substantiate the efficacy of the proposed ZD controller for the output control of the robot 1LpMD system.