Automated harvesting of oil palm trees requires research and development efforts in several robotics areas, including\r\nmanipulator control. The objective of this paper was to apply nonlinear Lyapunov based control method for joint angles\r\ntracking of a two-link oil palm harvesting robot manipulator with uncertain system parameters. Four different controllers,\r\nincluding exact model knowledge, adaptive, sliding mode control and high gain feedback control were proposed and simulated.\r\nStability analyses were performed for each case in the absence and presence of bounded disturbance. The controllers were\r\nthen compared against each other based on their performances and control efforts.
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