Robust composite nonlinear feedback control for uncertain robot manipulators
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 کاملAdaptive RBF network control for robot manipulators
TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...
متن کاملGlobal robust output feedback tracking control of robot manipulators
This paper addresses the problem of global output feedback, link position tracking control of robot manipulators. Specifically, a robust, Lyapunov-based controller is designed to ensure that the link position tracking error is globally uniformly ultimately bounded despite the fact that only link position measurements are available in the presence of incomplete model information (i.e., parametri...
متن کاملRobust Joint Position Feedback Control of Robot Manipulators
Most manipulator motion controllers require joint velocity feedback. Whenever joint velocities are not measurable, they are estimated from the joint positions. However, velocity estimates tend to be inaccurate under low-speed motion or low sensor resolution conditions. Moreover, velocity estimators may either be susceptible to model uncertainties or introduce additional dynamics (e.g., phase la...
متن کاملA Robust Optimal Control for Robot Manipulators
A mixed Optimal/robust control is proposed is this paper for the tracking of rigid robotic systems under parametric uncertainties and external perturbations. The design objective is that under a prescribed disturbance norm level, an optimal control system is to be designed as well as a robust control to overcome the effect of uncertainties. The optimal control is based on the solution of a nonl...
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: 10.1177/1729881420914805