Design of nonlinear tracking controllers for robots

This paper reports an innovative synthesis procedure to design nonlinear tracking control algorithms for robotic manipulators. The nonlinear mathematical model is used. It is shown that the offered controller ensures robust tracking and stability. Analytical and numerical studies are performed to design a nonlinear controller and to analyze the manipulator dynamics. An example is given to illustrate the method reported. In particular, the transient dynamics and tracking performance are studied for a two-link robot.