Nonlinear tracking control design of a robot arm using robust right coprime factorization and sliding mode approaches

2014 ◽  
Author(s):  
Min Zheng ◽  
Wudai Liao ◽  
Changhai Yin ◽  
Aihui Wang
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Control Design ◽  
Robot Arm ◽  
Coprime Factorization ◽  
Nonlinear Tracking

Nonlinear Perfect Tracking Control for a Robot Arm with Uncertainties Using Operator-Based Robust Right Coprime Factorization Approach

2015 ◽  
Vol 27 (1) ◽  
pp. 49-56 ◽  
Author(s):  
Aihui Wang ◽  
◽  
Dongyun Wang ◽  
Haiquan Wang ◽  
Shengjun Wen ◽  
...  
Keyword(s):  
Tracking Control ◽  
Structural Parameters ◽  
Control System Design ◽  
Robot Arm ◽  
External Disturbances ◽  
Factorization Approach ◽  
Coprime Factorization ◽  
Tracking Condition ◽  
Control Scheme ◽  
Universal Stability

<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00270001/06.jpg"" width=""300"" />Plant uncertainties compensation</div> In this paper, a robust nonlinear perfect tracking control for a robot arm with uncertainties is proposed by using operator-based robust right coprime factorization approach. In general, there exist unknown modelling errors in measuring structural parameters of the robot arm and external disturbances in real situations. In the present control system design, the effect of the modelling errors and disturbances on the system performance is considered to be uncertainties of the robot arm dynamics. Considering the uncertainties, a robust nonlinear perfect tracking control using operator-based robust right coprime factorization is investigated. That is, first, considering the unknown uncertain plant generates limitations in obtaining the so-called universal stability and tracking conditions, the effect of uncertain plant is compensated by designed operator-based feedback control scheme. Second, a new perfect tracking condition is proposed for improving the trajectory of the robot arm. Finally, the effectiveness of the designed system is confirmed by simulation results. </span>

scholarly journals TRACKING CONTROL DESIGN USING SLIDING MODE TECHNIQUES FOR SATELLITE FORMATION FLYING

2003 ◽  
Vol 20 (4) ◽  
pp. 365-374 ◽  
Author(s):  
Hyung-Chul Lim ◽  
Hyo-Choong Bang ◽  
Kwan-Dong Park ◽  
Pil-Ho Park
Keyword(s):  
Tracking Control ◽  
Formation Flying ◽  
Sliding Mode ◽  
Control Design ◽  
Satellite Formation Flying ◽  
Satellite Formation

Disturbance Observer Based Tracking Control

1997 ◽  
Vol 122 (2) ◽  
pp. 332-335 ◽  
Author(s):  
Chia-Shang Liu ◽  
Huei Peng
Keyword(s):  
Tracking Control ◽  
Disturbance Observer ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Correction Term ◽  
Superior Performance ◽  
Robot Arm ◽  
Disturbance Estimation ◽  
Control Scheme ◽  
Disturbance Term

A disturbance observer based tracking control algorithm is presented in this paper. The key idea of the proposed method is that the plant nonlinearities and parameter variations can be lumped into a disturbance term. The lumped disturbance signal is estimated based on a plant dynamic observer. A state observer then corrects the disturbance estimation in a two-step design. First, a Lyapunov-based feedback estimation law is used. The estimation is then improved by using a feedforward correction term. The control of a telescopic robot arm is used as an example system for the proposed algorithm. Simulation results comparing the proposed algorithm against a standard adaptive control scheme and a sliding mode control algorithm show that the proposed scheme achieves superior performance, especially when large external disturbances are present. [S0022-0434(00)00802-9]

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