A globally convergent robust controller for robot manipulator

PD control method is widely utilized for the dynamic characteristics controlling in industrial robot manipulator area. The disturbance is usually uncertain in reality; the traditional PD controller is limited in that case. In this paper, a PD robust controller is introduced to optimize the convergence and stability of PD controller and avoid the extreme initial driving torque for two-link manipulator system. Using the co-simulation on Matlab/ Simulink and ADAMS, the paper designs a PD robust controller under uncertain upper bound disturbance and completes track control and driving torque simulation trial. The superiority of the two-link manipulators PD robust controller is verified through result comparison and analysis.

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Neural Networks-based Adaptive State Feedback Control of Robot Manipulators

International Journal of Computers Communications & Control ◽

10.15837/ijccc.2007.4.2364 ◽

2007 ◽

Vol 2 (4) ◽

pp. 328 ◽

Cited By ~ 3

Author(s):

Ghania Debbache ◽

Abdelhak Bennia ◽

Noureddine Goléa

Keyword(s):

Neural Networks ◽

State Feedback ◽

Robot Manipulator ◽

Robot Manipulators ◽

External Disturbance ◽

Nonlinear Function ◽

State Feedback Control ◽

Robot Dynamics ◽

Robust Controller ◽

Control Scheme

This paper proposes an adaptive control suitable for motion control of robot manipulators with structured and unstructured uncertainties. In order to design an adaptive robust controller, with the ability to compensate these uncertainties, we use neural networks (NN) that have the capability to approximate any nonlinear function over a compact space. In the proposed control scheme, we need not derive the linear formulation of robot dynamic equation and tune the parameters. To reduce the NNs complexity, we consider the properties of robot dynamics and the decomposition of the uncertainties terms. The proposed controller is robust against uncertainties and external disturbance. The validity of the control scheme is demonstrated by computer simulations on a two-link robot manipulator.

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A PD Robust Controller Design and Simulation Based on Two-Link Manipulator under Given Upper Bound Disturbance

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.503-504.1540 ◽

2012 ◽

Vol 503-504 ◽

pp. 1540-1544

Author(s):

Ji Yan Wang ◽

Yu Xia Zhuang

Keyword(s):

Upper Bound ◽

Controller Design ◽

Robot Manipulator ◽

Industrial Robot ◽

Stability And Convergence ◽

Robust Controller ◽

Simulation Based ◽

The Stability ◽

Driving Torque ◽

Robust Controller Design

For industrial robot manipulator system, PD control theory is extensively used in the dynamic characteristics controlling. A PD robust controller is introduced to optimize the stability and convergence of traditional PD controller and avoid excess initial driving torque for two-link industrial manipulator system. By the co-simulation on ADAMS and Matlab/ Simulink, the paper designs a PD robust controller under given upper bound disturbance and completes track control and driving torque trial. Through result comparison and analysis, the superiority of the PD robust controller for two-link manipulator is verified.

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Robust Adaptive Self-Organizing Wavelet Fuzzy CMAC Tracking Control for De-icing Robot Manipulator

International Journal of Computers Communications & Control ◽

10.15837/ijccc.2015.4.702 ◽

2015 ◽

Vol 10 (4) ◽

pp. 567 ◽

Cited By ~ 8

Author(s):

ThanhQuyen Ngo ◽

TaVan Phuong

Keyword(s):

Robot Manipulator ◽

Learning Ability ◽

Cerebellar Model Articulation Controller ◽

Robust Controller ◽

Fast Learning ◽

Self Organized ◽

Fuzzy Cmac ◽

Robust Adaptive ◽

The Stability ◽

Self Organizing

In this paper, a robust adaptive self-organizing control system based on a novel wavelet fuzzy cerebellar model articulation controller (WFCMAC) is developed for an n-link robot manipulator to achieve the high-precision position tracking. This proposed controller consists of two parts: one is the WFCMAC approach which is implemented to cope with nonlinearities, due to the novel WFCMAC not only incorporates the wavelet decomposition property with fuzzy CMAC fast learning ability but also it will be self-organized; that is, the layers of WFCMAC will grow or prune systematically. Therefore, dimension of WFCMAC can be simplified. The second is the order which is the adaptive robust controller which is designed to achieve robust tracking performance of the system. The adaptive tuning laws of WFCMAC parameters and error estimation of adaptive robust controller are derived through the Lyapunov function so that the stability of the system can be guaranteed. Finally, the simulation and experimental results of novel three-link deicing robot manipulator are applied to verify the effectiveness of the proposed control methodology.

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A Design of Robust Controller for Robot Manipulator

Transactions of the Society of Instrument and Control Engineers ◽

10.9746/sicetr1965.31.1842 ◽

1995 ◽

Vol 31 (11) ◽

pp. 1842-1847

Author(s):

Dawei CAI ◽

Hiroo YAMAURA ◽

Yasunari SHIDAMA

Keyword(s):

Robot Manipulator ◽

Robust Controller

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Sliding Mode Hybrid Impedance Control of Robot Manipulators Interacting With Unknown Environments Using VSMRC Method

Volume 4: Dynamics, Control and Uncertainty, Parts A and B ◽

10.1115/imece2012-93505 ◽

2012 ◽

Cited By ~ 2

Author(s):

Aghil Jafari ◽

Reza Monfaredi ◽

Mehdi Rezaei ◽

Ali Talebi ◽

Saeed Shiry Ghidary

Keyword(s):

Control System ◽

Hybrid Control ◽

Sliding Mode ◽

Robot Manipulator ◽

Impedance Control ◽

Variable Structure ◽

Structure Model ◽

Robust Controller ◽

Control Approach ◽

Chattering Effect

In the present paper, the objective of hybrid impedance control is specified and a robust hybrid impedance control approach is proposed. Based on the concept of hybrid control, the task space is decomposed into position and force controlled subspaces. Impedance control is used in the position controlled subspace. Desired inertia and damping are applied in the force controlled subspace to meliorate the dynamic behavior of robot manipulator. Robust controller using the variable structure model reaching control (VSMRC) is introduced that can realize the objective impedance in the sliding mode in finite time. In order to overcome the chattering effect due to sliding mode approach, fuzzy logic methodology is employed in the control system. In addition, the reaching transient response is undertaken with prescribed quality. Simulating the control system for a 6DOF PUMA560 robot confirms the validity and effectiveness of the proposed control system.

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Robust Hybrid Fractional Order Proportional Derivative Sliding Mode Controller for Robot Manipulator Based on Extended Grey Wolf Optimizer

Robotica ◽

10.1017/s0263574719000882 ◽

2019 ◽

Vol 38 (4) ◽

pp. 605-616 ◽

Cited By ~ 1

Author(s):

Hossein Komijani ◽

Mojtaba Masoumnezhad ◽

Morteza Mohammadi Zanjireh ◽

Mahdi Mir

Keyword(s):

Fractional Order ◽

Sliding Mode ◽

Robot Manipulator ◽

Lyapunov Theory ◽

Grey Wolf Optimizer ◽

Sliding Mode Controller ◽

Grey Wolf ◽

Robust Controller ◽

The Stability ◽

Proportional Derivative Controller

SUMMARYThis paper presents a novel robust hybrid fractional order proportional derivative sliding mode controller (HFOPDSMC) for 2-degree of freedom (2-DOF) robot manipulator based on extended grey wolf optimizer (EGWO). Sliding mode controller (SMC) is remarkably robust against the uncertainties and external disturbances and shows the valuable properties of accuracy. In this paper, a new fractional order sliding surface (FOSS) is defined. Integrating the fractional order proportional derivative controller (FOPDC) and a new sliding mode controller (FOSMC), a novel robust controller based on HFOPDSMC is proposed. The bounded model uncertainties are considered in the dynamics of the robot, and then the robustness of the controller is verified. The Lyapunov theory is utilized in order to show the stability of the proposed controller. In this paper, the EGWO is developed by adding the emphasis coefficients to the typical grey wolf optimizer (GWO). The GWO and EGWO, then, are applied to optimize the proposed control parameters which result in the optimized GWO-HFOPDSMC and EGWO-HFOPDSMC, respectively. The effectivenesses of the optimized controllers (GWO-HFOPDSMC and EGWO-HFOPDSMC) are completely verified by comparing the simulation results of the optimized controllers with the typical FOSMC and HFOPDSMC.

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