Robust tracking control of robot manipulators using only joint position measurements

MaRDI QIDQ474021zbMATH OpenFDO

Authors Ancai Zhang, Min Wu, Jianlong Qiu, Xiangyong Chen, Jinhua She, Xuzhi Lai

Publication date 24 November 2014

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

Review text

Summary: This paper concerns the tracking control of a robot manipulator with unknown uncertainties and disturbances. It presents a new control method that uses only joint position measurements to design a tracking controller. The controller has two parts. One is based on a feedback linearization technique; it makes the nominal model of a manipulator asymptotically track a desired trajectory. The other is based on the idea of equivalent input disturbance (EID); it compensates for uncertainties and disturbances. Together they enable a robot manipulator to precisely track the desired trajectory. The new control algorithm is applied to a two-link robot manipulator, and simulation results demonstrate the validity of this method.

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Cited in

(13)

• Robot trajectory control: Robust outer loop design using a linear controller
• Disturbance attenuation and trajectory tracking via a reduced-order output feedback controller for robot manipulators
• Robust tracking of a lightweighted manipulator system
• Continuous PID-SMC based on improved EHGO for robot manipulators with limited state measurements
• Improved positional accuracy of robots with high nonlinear friction using a modified impulse controller
• scientific article; zbMATH DE number 168381 (Why is no real title available?)
• Adaptive tracking control of rigid manipulators using only position measurements
• Tracking control of flexible joint manipulators using only position measurements
• Robust control of robot manipulators based on uncertainty and disturbance estimation
• Trajectory tracking control for robot manipulators using only position measurements
• Robot control by using only joint position measurements
• Trajectory tracking control based on memory data for robots with imprecise dynamic properties and interference
• Tracking control of robot manipulators actuated by brushless DC motors: elimination of joint velocity measurements with a robust observer

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