Global H/sub /spl infin// control design for tracking control of robot manipulators

Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This paper presents two approaches to solve this problem. The approaches consider joint space tracking control design in the presence of nonlinear uncertain torques caused by external vibration and payload variation. The properties of the uncertain torques are used in both approaches. The first approach is based on the boundedness property, while the second approach considers the differentiability and boundedness together. The controllers derived from each approach differ from the perspectives of accuracy, control effort, and disturbance properties. A Lyapunov-based analysis is utilized to guarantee the stability of the control design in each case. Simulation results validate the approaches and demonstrate the performance of the controllers. The derived controllers show stable results at the cost of the mentioned properties.

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Fuzzy descriptor tracking control with guaranteed L∞ error-bound for robot manipulators

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331220979262 ◽

2020 ◽

pp. 014233122097926

Author(s):

Anh-Tu Nguyen ◽

Antoine Dequidt ◽

Van-Anh Nguyen ◽

Laurent Vermeiren ◽

Michel Dambrine

Keyword(s):

Tracking Control ◽

Feedforward Control ◽

Robot Manipulators ◽

Fuzzy Model ◽

Control Design ◽

Effective Control ◽

Linear Matrix ◽

Control Scheme ◽

Nonlinear Tracking ◽

The Rich

This paper is concerned with the nonlinear tracking control design for robot manipulators. In spite of the rich literature in the field, the problem has not yet been addressed adequately due to the lack of an effective control design. Using a descriptor fuzzy model-based framework, we propose a new approach to design a feedback-feedforward control scheme for robot manipulators in a general form. The goal is to guarantee a small level of an [Formula: see text] gain specification to improve the tracking performance while significantly reducing the numerical complexity for real-time implementation. Based on Lyapunov stability arguments, the control design is formulated as a convex optimization problem involving linear matrix inequalities. Numerical experiments performed with a high-fidelity manipulator benchmark model, embedded in the Simscape MultibodyTM environment, demonstrate the effectiveness of the proposed control solution over existing standard approaches.

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Disturbance-Observer Based Tracking Control of Industrial SCARA Robot Manipulators

IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society ◽

10.1109/iecon.2019.8926915 ◽

2019 ◽

Author(s):

Amine Dehak ◽

Anh-Tu Nguyen ◽

Antoine Dequidt ◽

Laurent Vermeiren ◽

Michel Dambrine

Keyword(s):

Tracking Control ◽

Disturbance Observer ◽

Robot Manipulators ◽

Scara Robot

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Tracking control via switched Integral Sliding Mode with application to robot manipulators

Control Engineering Practice ◽

10.1016/j.conengprac.2019.07.008 ◽

2019 ◽

Vol 90 ◽

pp. 257-266 ◽

Cited By ~ 8

Author(s):

Antonella Ferrara ◽

Gian Paolo Incremona ◽

Bianca Sangiovanni

Keyword(s):

Tracking Control ◽

Sliding Mode ◽

Robot Manipulators ◽

Integral Sliding Mode

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Robust Tracking Control for Takagi–Sugeno Fuzzy Systems With Unmeasurable Premise Variables: Application to Tank System

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4026467 ◽

2014 ◽

Vol 136 (4) ◽

Cited By ~ 13

Author(s):

H. Ghorbel ◽

A. El Hajjaji ◽

M. Souissi ◽

M. Chaabane

Keyword(s):

Tracking Control ◽

Fuzzy Systems ◽

Design Procedure ◽

Control Design ◽

Linear Matrix ◽

Robust Tracking Control ◽

Fuzzy Observer ◽

Tank System ◽

System States ◽

Takagi Sugeno

In this paper, a robust fuzzy observer-based tracking controller for continuous-time nonlinear systems presented by Takagi–Sugeno (TS) models with unmeasurable premise variables, is synthesized. Using the H∞ norm and Lyapunov approach, the control design for TS fuzzy systems with both unmeasurable premises and system states is developed to guarantee tracking performance of closed loop systems. Sufficient relaxed conditions for synthesis of the fuzzy observer and the fuzzy control are driven in terms of linear matrix inequalities (LMIs) constraints. The proposed method allows simplifying the design procedure and gives the observer and controller gains in only one step. Numerical simulation on a two tank system is provided to illustrate the tracking control design procedure and to confirm the efficiency of the proposed method.

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