Robust Control of a Master-Slave Manipulator Under Restricted Task-Space

  • D. Cruz-OrtizEmail author
  • I. Chairez
  • A. Poznyak
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 86)


The aim of this manuscript is to develop a robust output-based controller for a master-slave robot manipulator (RM), under state constraints. The proposed controller satisfies a regular proportional-derivative (PD) structure with time-varying gains. This controller includes an integral compensation term which is guaranteeing the collision avoidance with possible obstacles placed within the boundaries of the task work-space. The attractive ellipsoid method justifies the design of the control strategy. The solution of a matrix inequality characterizes the zone of convergence and the sub-optimal control gains. A set of numerical simulations based on a two-link RM illustrates the advantages obtained with the proposed method.


Robust control Constraint system Attractive ellipsoid 


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Copyright information

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Automatic Control DepartmentCINVESTAV-IPNMexico CityMexico
  2. 2.Bioprocesses DepartmentUPIBI-IPNMexico CityMexico

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