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

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.