Robust Controller Design for Robot Manipulators

1988 ◽  
Vol 110 (1) ◽  
pp. 94-96 ◽  
Author(s):  
T. Sugie ◽  
T. Yoshikawa ◽  
T. Ono
Keyword(s):  
Control Method ◽  
Controller Design ◽  
Robot Manipulators ◽  
Degree Of Freedom ◽  
Robust Controller ◽  
Two Degree Of Freedom ◽  
Robust Controller Design

In this paper we give a control method for robot manipulators which takes account of both the command response and the robustness in a systematic way by utilizing two-degree-of-freedom controller configuration. A simulation result is given to show the validity of our method.

scholarly journals Robust Control Method for Industrial Robot Manipulators with Flexible Joints. Application of State Observer and Two-Degree-of-Freedom Controller.

1994 ◽  
Vol 12 (3) ◽  
pp. 466-471 ◽  
Author(s):  
Yoshiharu Nishida ◽  
Toshihiko Nishimura ◽  
Koichi Honke ◽  
Hiroshi Nakagami ◽  
Yoshinori Imaizumi ◽  
...  
Keyword(s):  
Robust Control ◽  
Control Method ◽  
Robot Manipulators ◽  
Industrial Robot ◽  
State Observer ◽  
Degree Of Freedom ◽  
Flexible Joints ◽  
Two Degree Of Freedom

scholarly journals A Robust Double Active Control System Design for Disturbance Suppression of a Two-Axis Gimbal System

Electronics ◽  
2020 ◽  
Vol 9 (10) ◽  
pp. 1638
Author(s):  
Dong-Hun Lee ◽  
Duc-Quan Tran ◽  
Young-Bok Kim ◽  
Soumayya Chakir
Keyword(s):  
Motion Tracking ◽  
Controller Design ◽  
Sliding Mode ◽  
Control Strategies ◽  
Robust Controller ◽  
Stabilized Platform ◽  
Imaging Sensors ◽  
Inertially Stabilized Platform ◽  
Two Degree Of Freedom ◽  
Robust Controller Design

This paper presents a robust controller design with disturbance decoupling and rejection of a two-degree-of-freedom (2-DOF) Inertially Stabilized Platform (ISP). The objective of these mechanisms is to stabilize the line of sight (LOS) of imaging sensors pointing towards a specific target. There is currently tremendous interest in ISP applications in marine systems. Such a harsh environment subjects the imaging sensors to multiple disturbances, which requires the design of robust control strategies to enhance the performances of ISP systems. The controller designed in this study is a double active controller composed of an inner compensator, and a feedback controller designed based on the H∞ framework. The main advantage of the proposed controller is that it can be implemented in real time, with lower computational complexity and good performance. In this paper, a comparative experimental study was conducted between the designed controller and an integral sliding-mode controller (ISMC). The comparison was achieved through two major tasks of ISP systems: motion tracking and target tracking.

scholarly journals Robust Hierarchical Control for Uncertain Multivariable Hexarotor Systems

2015 ◽  
Vol 2015 ◽  
pp. 1-8 ◽  
Author(s):  
Wei Lin ◽  
Hao Liu
Keyword(s):  
Control Method ◽  
Controller Design ◽  
Load Capacity ◽  
Hierarchical Control ◽  
Tracking Errors ◽  
Robust Controller ◽  
External Disturbances ◽  
Loop Control ◽  
Control Scheme ◽  
Robust Controller Design

Multirotor helicopter attracts more attention due to its increased load capacity and being highly maneuverable. However, these helicopters are uncertain multivariable systems, which pose a challenge for their robust controller design. In this paper, a robust two-loop control scheme is proposed for a hexarotor system. The resulted controller consists of a nominal controller and a robust compensator. The robust compensators are added to restrain the influences of uncertainties such as nonlinear dynamics, coupling, parametric uncertainties, and external disturbances. It is proven that the tracking errors are ultimately bounded with specified boundaries by choosing the parameters of the robust compensators. Simulation results on the hexarotor demonstrate the effectiveness of the proposed control method.

A Modified Homotopy Method and H∞ Robust Controller Design

2014 ◽  
Vol 39 (8) ◽  
pp. 1374-1380
Author(s):  
Bin LIU ◽  
Jiu-Qiang SUN ◽  
Zhi-Qiang ZHAI ◽  
Zhuo LI ◽  
Chang-Hong WANG
Keyword(s):  
Controller Design ◽  
Homotopy Method ◽  
Robust Controller ◽  
Robust Controller Design
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