Model tracking controller design of robot manipulator system with disturbances

被引：0

作者：

Wang, Dazhong ^{[1
]}

Wu, Shujing ^{[1
]}

Wang, Guoqiang ^{[1
]}

Okubo, Shigenori ^{[2
]}

机构：

[1] Shanghai Univ Engn Sci, Shanghai 201620, Peoples R China

[2] Yamagata Univ, Fac Engn, Yonezawa, Yamagata 992, Japan

来源：

ADVANCES IN MECHANICAL ENGINEERING | 2015年 / 7卷 / 07期

关键词：

Robotics and artificial intelligence; model tracking control; robot manipulator system; robust design; MULTIPLE MOBILE MANIPULATORS; ADAPTIVE-CONTROL;

D O I：

10.1177/1687814015592367

中图分类号：

O414.1 [热力学];

学科分类号：

摘要：

In the model tracking control of robot manipulator system, the treatment of nonlinear uncertainty in the system has always been an active research field. This article establishes a kinetic equation for robot manipulator system based on Lagrange equation and proposes a model tracking control system based on differential divisor. On this basis, this article proposes a model tracking control scheme for robot manipulator systems with disturbances. The proposed scheme is robust stable under the external disturbances. At last, the system simulation approach is employed to verify the effectiveness of this scheme on robot manipulator control.

引用

页码：1 / 9

页数：9

共 31 条

[1] Adaptive Fuzzy Computed-Torque Control for Robot Manipulator with Uncertain Dynamics [J].

Chen, Yuan ;

Ma, Guangying ;

Lin, Shuxia ;

Gao, Jun .

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2012, 9

[2] A design of model following control system for linear neutral system with time delays [J].

Wang, Dazhong ;

Okubo, Shigenori .

IEEJ Transactions on Electronics, Information and Systems, 2008, 128 (11) :1657-1663+9

[3] Fault detection for robot manipulators with parametric uncertainty: A prediction-error-based approach [J].

Dixon, WE ;

Walker, ID ;

Dawson, DM ;

Hartranft, JP .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2000, 16 (06) :689-699

[4] Robust control of flexible-joint robots using voltage control strategy [J].

Fateh, Mohammad Mehdi .

NONLINEAR DYNAMICS, 2012, 67 (02) :1525-1537

[5] Task-space Neuro-Sliding Mode Control of Robot Manipulators under Jacobian Uncertainties [J].

Garcia-Rodriguez, Rodolfo ;

Parra-Vega, Vicente .

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2011, 9 (05) :895-904

[6] Time-scale separation of a class of robust PD-type tracking controllers for robot manipulators [J].

Gonzalez-Vazquez, Salvador ;

Moreno-Valenzuela, Javier .

ISA TRANSACTIONS, 2013, 52 (03) :418-428

[7] Neural Network Control of a Rehabilitation Robot by State and Output Feedback [J].

He, Wei ;

Ge, Shuzhi Sam ;

Li, Yanan ;

Chew, Effie ;

Ng, Yee Sien .

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2015, 80 (01) :15-31

[8] Adaptive Neural Network Control of an Uncertain Robot With Full-State Constraints [J].

He, Wei ;

Chen, Yuhao ;

Yin, Zhao .

IEEE TRANSACTIONS ON CYBERNETICS, 2016, 46 (03) :620-629

[9] Adaptive Boundary Control of a Nonlinear Flexible String System [J].

He, Wei ;

Zhang, Shuang ;

Ge, Shuzhi Sam .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2014, 22 (03) :1088-1093

[10] Robust Adaptive Boundary Control of a Vibrating String Under Unknown Time-Varying Disturbance [J].

He, Wei ;

Ge, Shuzhi Sam .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2012, 20 (01) :48-58

← 1 2 3 4 →