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Control strategies for robotic manipulators

Khan, Muhammad Fayaz; Ul Islam, Raza; Iqbal, Jamshed


Muhammad Fayaz Khan

Raza Ul Islam


This survey is aimed at presenting the major robust control strategies for rigid robot manipulators. The techniques discussed are feedback linearization/Computed torque control, Variable structure compensator, Passivity based approach and Disturbance observer based control. The first one is based on complete dynamic model of a robot. It results in simple linear control which offers guaranteed stability. Variable structure compensator uses a switching/relay action to overcome dynamic uncertainties and disturbances. Passivity based controller make use of passive structure of a robot. If passivity of a feedback system is proved, nonlinearities and uncertainties will not affect the stability. Disturbance observer based controllers estimate disturbances, which can be cancelled out to achieve a nominal model, for which a simple controller can then be designed. This paper, after explaining each control strategy in detail, finally compares these strategies for their pros and cons. Possible solutions to cope with the drawbacks have also been presented in tabular form. © 2012 IEEE.


Khan, M. F., Ul Islam, R., & Iqbal, J. (2012). Control strategies for robotic manipulators. In 2012 International Conference on Robotics and Artificial Intelligence (ICRAI) (26-33).

Conference Name 2012 International Conference on Robotics and Artificial Intelligence (ICRAI)
Conference Location Rawalpindi, Pakistan
Start Date Oct 22, 2012
End Date Oct 23, 2012
Publication Date Dec 1, 2012
Deposit Date Sep 15, 2021
Publicly Available Date Oct 27, 2022
Pages 26-33
Book Title 2012 International Conference on Robotics and Artificial Intelligence (ICRAI)
ISBN 9781467348867
Public URL
Publisher URL


Accepted manuscript (<nobr>381 Kb</nobr>)

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© 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

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