Nonlinear tracking control on a robot manipulator in the task space with uncertain dynamics

被引：5

作者：

Soltanpour, M.R. ^{[1
]}

Fateh, M.M. ^{[1
]}

Ahmadi Fard, A.R. ^{[1
]}

机构：

[1] Shahrood University of Technology, Postal Code 3619995161, Shahrood

来源：

Journal of Applied Sciences | 2008年 / 8卷 / 23期

关键词：

Control; Feedback linearization; Robot manipulator; Robust nonlinear; Task space; Uncertainty;

D O I：

10.3923/jas.2008.4397.4403

中图分类号：

学科分类号：

摘要：

This study was presented the design of a nonlinear robust controller based on Lyapunov method for tracking control of a robot manipulator in the task space. First of all, the dynamics of manipulator was divided to the known and unknown parts. The feedback linearization was used to remove the known nonlinear terms from the closed loop system which was advantageous to reduce the estimated uncertainties. Then the robust controller was designed to overcome uncertainties using their estimated maximum values. The proposed controller can guarantee the globally asymptotical stability. This control approach was studied on a two links elbow manipulator and can be applied for n degrees of freedom robot manipulators. © 2008 Asian Network for Scientific Information.

引用

页码：4397 / 4403

页数：6

共 50 条

[41] A particle swarm optimization approach for fuzzy sliding mode control for tracking the robot manipulator [J].

Soltanpour, Mohammad Reza ;

Khooban, Mohammad Hassan .

NONLINEAR DYNAMICS, 2013, 74 (1-2) :467-478

[42] Tool position tracking control of a nonlinear uncertain flexible robot manipulator by using robust H2/H∞ controller via T–S fuzzy model [J].

VAHID AZIMI ;

MOHAMMAD BAGHER MENHAJ ;

AHMAD FAKHARIAN .

Sadhana, 2015, 40 :307-333

[43] SYNCHRONIZATION CONTROL OF A PARALLEL MANIPULATOR WITH REDUNDANT ACTUATION IN THE TASK SPACE [J].

Shang, Weiwei ;

Cong, Shuang ;

Jiang, Shilong .

INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2011, 26 (04) :432-440

[44] A dynamic control method for free-floating space manipulator in task space [J].

Fu, Yili ;

Zhang, Fuhai ;

Wang, Shuguo ;

Chi, Zhongying .

2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5, 2007, :1230-1235

[45] Event-triggered stochastic finite-time tracking control of robot manipulator with uncertain disturbance neural network estimation [J].

Dang, Boyu ;

Li, Haiyan .

NONLINEAR DYNAMICS, 2024, 112 (18) :16315-16337

[46] Indirect Robust Adaptive Fuzzy Control of Uncertain Two Link Robot Manipulator [J].

Abdelhamid, Bounemeur ;

Mouhamed, Chemachema ;

Najib, Essounbouli .

RECENT ADVANCES IN ELECTRICAL ENGINEERING AND CONTROL APPLICATIONS, 2017, 411 :125-139

[47] Robust Adaptive Trajectory Tracking Control for Robot Manipulator With Friction Disturbances [J].

Zhao, HuaMin ;

Lv, ChengXing ;

Chen, Jian .

2022 34TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC, 2022, :5293-5298

[48] Synergetic Workspace Tracking Control for 4-DOF Robot Manipulator [J].

Fareh, Raouf ;

Khadraoui, Sofiane ;

Baziyad, Mohammed ;

Bettayeb, Maamar .

PROCEEDINGS OF 2020 12TH INTERNATIONAL CONFERENCE ON COMPUTER AND AUTOMATION ENGINEERING (ICCAE 2020), 2020, :189-193

[49] Composite trajectory tracking control for robot manipulator with active disturbance rejection [J].

Shi, Danni ;

Zhang, Jinhui ;

Sun, Zhongqi ;

Shen, Ganghui ;

Xia, Yuanqing .

CONTROL ENGINEERING PRACTICE, 2021, 106

[50] Intelligent tracking control for robot manipulator including actuator dynamics via TSK type fuzzy neural network [J].

Wai, RJ ;

Chen, PC .

IEEE TRANSACTIONS ON FUZZY SYSTEMS, 2004, 12 (04) :552-559

← 1 2 3 4 5 →