Abstract
We propose a method for efficient numerical computation of interval-Arithmetic-based robust controllers for rigid robot manipulators. The use of interval arithmetic for robust control is the core of a recently proposed approach which allows a user-defined tracking performance to be ultimately met despite uncertain models and input disturbance, without requiring an empirical estimation of bounds of perturbations from uncertain system dynamics. Our proposed algorithm combines a modified recursive Newton-Euler scheme with interval arithmetic computations to automatically obtain formally guaranteed over-Approximative estimations of perturbing torques/forces arising from imperfect knowledge of dynamic model parameters. The resulting algorithm has linear computational complexity and can be used online. We validate the applicability of our proposed method with simulations and tests on a commercially available real-Time target computer. © 2017 Elsevier B.V., All rights reserved.