Upper bounding estimation for robustness to the parameter uncertainty in trajectory control of robot arm

被引：16

作者：

Burkan, R ^{[1
]}

Uzmay, I

机构：

[1] Erciyes Univ, Vocat Coll Kayseri, TR-38039 Kayseri, Turkey

[2] Erciyes Univ, Dept Mech Engn, TR-38039 Kayseri, Turkey

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2003年 / 45卷 / 02期

关键词：

robot trajectory; robust control; asymptotic stability; parametric uncertainty; bound estimation;

D O I：

10.1016/j.robot.2003.07.001

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a new robust control law is presented for robot manipulators subjected to uncertainties. Stability of the system is established by the Lyapunov function, and a control law that guaranteed the system stability is derived as a result of analytical solution. Apart from previous studies, uncertainty bound is determined with the estimation law to control the system properly and the estimation law is written as an exponential function of robot kinematics, inertia parameters and tracking error. Due to asymptotic stability and increasing convergence rate, tracking performance for the case of transient and steady-state are increased. (C) 2003 Elsevier B.V. All rights reserved.

引用

页码：99 / 110

页数：12

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