Abstract This paper deals with the robust control of robot manipulators by presenting a novel voltage-based control approach. For this purpose, an Extended State Observer (ESO) is utilized to estimate the dynamical behaver of the system without any need to use the equations of motion including robot dynamics, actuator dynamics and their parameters in the proposed method. Convergence analysis proves that the estimated parameters converge to actual parameters asymptotically. The boundedness of tracking error is guaranteed through the Lyapunov theorem. Simulation results on an articulated robot driven by permanent magnet DC motors, and experimental implementation on a SCARA robot show that the proposed model-free controller has a satisfactory performance as compared to an adaptive uncertainty estimation-based controller.

中文翻译：

---

使用扩展状态观察器对电动机器人操纵器进行无模型控制

摘要 本文通过提出一种新颖的基于电压的控制方法来处理机器人机械手的鲁棒控制。为此，使用扩展状态观察器 (ESO) 来估计系统的动态行为，而无需在所提出的方法中使用包括机器人动力学、执行器动力学及其参数在内的运动方程。收敛分析证明估计参数渐近收敛于实际参数。通过李雅普诺夫定理保证了跟踪误差的有界性。由永磁直流电机驱动的关节机器人的仿真结果和 SCARA 机器人的实验实施表明，与基于自适应不确定性估计的控制器相比，所提出的无模型控制器具有令人满意的性能。