Robust Tracking Control of a Direct Drive Robot

This paper presents a robust controller for tracking control of a direct-drive robot. The proposed controller consists of two portions: a computed torque method which precompensates for dynamics of the modeled plant and an H∞ controller which postcompensates for residual errors which are not completely removed by the computed torque method. Experimental methods for identifying appropriate model structure and parameters are presented, and three specific controller types are compared. Using the robot designed in our laboratory, the combined controller reduced tracking errors by one half compared to computed torque control alone, and by one sixth compared to conventional independent joint control.

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Robust tracking control of a brushless DC motor with application to direct-drive robotics

[1993] Proceedings IEEE International Conference on Robotics and Automation ◽

10.1109/robot.1993.291967 ◽

2002 ◽

Cited By ~ 13

Author(s):

J.J. Carroll ◽

D.M. Dawson

Keyword(s):

Tracking Control ◽

Dc Motor ◽

Brushless Dc Motor ◽

Robust Tracking ◽

Direct Drive ◽

Robust Tracking Control ◽

Brushless Dc

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Robust Tracking Control for Robotic Manipulator via Fuzzy Logic System andH∞Approaches

Journal of Control Science and Engineering ◽

10.1155/2015/459431 ◽

2015 ◽

Vol 2015 ◽

pp. 1-10 ◽

Cited By ~ 2

Author(s):

Kun Mu ◽

Cong Liu ◽

Jinzhu Peng

Keyword(s):

Fuzzy Logic ◽

Tracking Control ◽

Robotic Manipulator ◽

Fuzzy Logic System ◽

Torque Control ◽

Robust Tracking ◽

Robust Tracking Control ◽

External Disturbances ◽

Control Scheme ◽

Logic System

Based on fuzzy logic system (FLS) andH∞control methodologies, a robust tracking control scheme is proposed for robotic system with uncertainties and external disturbances. FLS is employed to implement the framework of computed torque control (CTC) method via its approximate capability which is used to attenuate the nonlinearity of robotic manipulator. The robustH∞control can guarantee robustness to parametric and dynamics uncertainties and also attenuate the effect of immeasurable external disturbances entering the system. Moreover, a quadratic stability approach is used to reduce the conservatism of the conventional robust control approach. It can be guaranteed that all signals in the closed-loop are bounded by employing the proposed robust tracking control. The validity of the proposed control scheme is shown by simulation of a two-link robotic manipulator.

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Robust tracking control for robot manipulators: theory, simulation, and implementation

Robotica ◽

10.1017/s0263574700016064 ◽

1993 ◽

Vol 11 (3) ◽

pp. 201-208 ◽

Cited By ~ 6

Author(s):

D. Dawson ◽

Z. Quf† ◽

J. Duffie

Keyword(s):

Dynamic Equation ◽

Tracking Control ◽

Global Exponential Stability ◽

Tracking Error ◽

Stability Result ◽

Robot Motion ◽

Control Parameters ◽

Robust Tracking ◽

Robust Tracking Control ◽

Robust Controller

SUMMARYIn 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.

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