Evolved State Feadback Control for Manipulator Robots

This paper presents the evolved state feedback control applied to manipulator robots with parameter uncertainties and external disturbances. A high gain control, based on the state feedback, is used in order to guarantee a high performances such as precision and stability of the system despite of the presence of the parameter uncertainties and disturbances. Furthermore, this control provide a smooth signal control that is favorable for the robot actuators. The stability of the control is proved using the Lyapunov approach. Some simulations results present the application of this control to a two degree of freedom manipulator robot and prove its effectiveness.