Analysis of Robust control methods for rigid robots

Robot manipulators play an efficient role in modern industry due to its enhanced precision, quality, productivity, and efficiency. Controlling these systems becomes difficult because of its non-linearity and time varying behaviors. Adaptive control methods and robust control methods are the efficient control mechanisms used to control uncertain systems. In adaptive control philosophy the controller is designed to learn the uncertain parameters associated with the system. Whereas, in robust control methods are easy to implement the controller has a fixed structure and yields an acceptable performance. In this paper, the various robust control techniques like the Linear-multivariable Approach, Passivity based approach, Variable structure controllers, the Robust Saturation Approach, the Robust Adaptive approach, which is used to control the motion of rigid robots are discussed and multiple papers have been summarized.