Research on Robust Task Space Control Uncertainty Based on Legendre Polynomial

Usually, the uncertainty bound is needed to design the control law in conventional robust control approaches. However, the proposed bound may increase the amplitude of the control signal and damage the system. To solve this problem, a robust control law is proposed in this paper. The uncertainty bound of the proposed control law is calculated by Legendre polynomials. Compared to conventional robust controllers, the proposed controller is simpler, less computational and requires less feedback. By a SCARA robot manipulator control law proposed simulation, the simulation results verify the effectiveness of the proposed control approach.