Cascaded Feedback Control Scheme for Trajectory Tracking of Robot Manipulator Systems with Actuator Dynamics

Control of nonlinear mechanical systems that have complex actuator dynamics is difficult, because the actuator dynamics are highly nonlinear and the entire system, including both the robot manipulators and actuators, is of a high order. In this study, we propose a feedback control scheme for motion control of nonlinear high-order systems and prove that it can improve the trajectory tracking performance of a robot manipulator system with actuator dynamics. Simulations and experimental results demonstrate the efficacy of the proposed control scheme.