ROBUST TRACKING CONTROL FOR ROBOT MANIPULATORS - THEORY, SIMULATION, AND IMPLEMENTATION

被引：4

作者：

DAWSON, D

QU, Z

DUFFIE, J

机构：

[1] School of Electrical and Computer Engineering, Center for Advanced Manufacturing, Clemson University, Clemson, SC

[2] Department of Electrical Engineering, University of Central Florida, Orlando, FL.

来源：

ROBOTICA | 1993年 / 11卷

基金：

美国国家科学基金会;

关键词：

TRACKING CONTROL; ROBOTS; ROBUST CONTROLLER;

D O I：

10.1017/S0263574700016064

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, we propose a robust controller for the tracking of robot motion. This controller is a nonlinear-based controller that compensates for the uncertainties present in the manipulator dynamic equation. The main result of this paper is that we explicitly show how the response of the tracking error can be modified by adjusting the control parameters. The corresponding stability result for the tracking error is Global Exponential Stability (GES). We then illustrate how similar control approaches are related to the proposed controller. Finally, simulation and experimental results are utilized to illustrate the performance of the robust controller.

引用

页码：201 / 208

页数：8

共 16 条

[11] Craig J.J., Adaptive Control of Mechanical Manipulators, (1986)
[12] Vidyasagar M., Nonlinear Systems Analysis, (1978)
[13] Spong M., Vidyasagar M., Robot Dynamics and Control, (1989)
[14] Sadegh N., Horowitz R., Stability Robustness Analysis of a Class of Adaptive Controllers for Robotic Manipulators, Int. J. Robotics Research, 9, 3, pp. 74-92, (1990)
[15] Ortega R., Spong M., Adaptive Motion Control of Rigid Robots: A Tutorial, Proc. IEEE Conf on Decision and Control, pp. 1575-1584, (1988)
[16] De Wit C.A.C., Adaptive Control for Partially Known Systems, (1988)

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