Global robust super-twisting algorithm with adaptive switching gains for a hybrid robot
نویسندگان
چکیده
منابع مشابه
Robust Hybrid Motion Force Control Algorithm for Robot Manipulators
In this paper we present a robust hybrid motion/force controller for rigid robot manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under parametric uncertainty both in robot dynamics and stiffness constraint constant. Also, the given scheme is prov...
متن کاملA hybrid metaheuristic algorithm for the robust pollution-routing problem
Emissions resulted from transportation activities may lead to dangerous effects on the whole environment and human health. According to sustainability principles, in recent years researchers attempt to consider the environmental burden of logistics activities in traditional logistics problems such as vehicle routing problems (VRPs). The pollution-routing problem (PRP) is an extension of the VRP...
متن کاملA Novel Robust Adaptive Trajectory Tracking in Robot Manipulators
In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. To control and track the robot, a continuous controll...
متن کاملAdaptive continuous twisting algorithm
In this paper an Adaptive Continuous Twisting Algorithm (ACTA) is presented. For double integrator, ACTA produces a continuous control signal ensuring finite time convergence of the states to zero. Moreover, the control signal generated by ACTA, compensates the Lipschitz perturbation in finite time, i.e. its value converges to the opposite value of the perturbation. ACTA also keeps its converge...
متن کاملEnhancement of Robust Tracking Performance via Switching Supervisory Adaptive Control
When the process is highly uncertain, even linear minimum phase systems must sacrifice desirable feedback control benefits to avoid an excessive ‘cost of feedback’, while preserving the robust stability. In this paper, the problem of supervisory based switching Quantitative Feedback Theory (QFT) control is proposed for the control of highly uncertain plants. According to this strategy, the unce...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2020
ISSN: 1729-8814,1729-8814
DOI: 10.1177/1729881420926429