Computed-torque based controller, parameter determination method thereof and performance analysis method thereof

A controller that computes an error value of an output value of a control target for a target value through a computational equation and provides a control input value of the control target, the controller comprising:

• an outer loop controller which constitutes closed loop control of the control target, and an inner loop controller which performs feedback linearization to remove nonlinearity of the control target,
• wherein a dynamics equation of the control target is represented by the following Equation 1 including an exogenous disturbance torque vector, and
• the inner loop controller and the control target form an inner loop system, and a dynamics equation for an trajectory tracking error of the inner loop system is represented by the following Equation 4:
• M(q){umlaut over (q)}+C(q,{dot over (q)}){dot over (q)}+G(q)+τd=τ[Equation 1]
• where q(t)∈n is the output value and corresponds to the joint angle vector, M(q)∈n×n corresponds to the positive definite matrix corresponding to Inertia, C(q,{dot over (q)}){dot over (q)}∈n corresponds to the Coriolis and centrifugal torque vector, G(q)∈n corresponds to the gravitational torque vector, τd(t)∈n corresponds to the exogenous disturbance torque vector, τ(t)∈n in corresponds to the control input torque vector,
• ë=w+u [Equation 4]
• where w:=−M−1(q){tilde over (M)}(q)({umlaut over (q)}d−u)−M−1(q)*{tilde over (C)}(q,{dot over (q)}){dot over (q)}+{tilde over (G)}(q)−τd) is the total exogenous disturbance acting in the inner loop system, and is defined as including both the exogenous disturbance torque vector and the computational error, u is the control output value that is provided to the inner loop system by the outer loop controller.