scholarly journals Robust Tracking Control of Robot Manipulators Using Only Joint Position Measurements

2013 ◽  
Vol 2013 ◽  
pp. 1-9 ◽  
Author(s):  
Ancai Zhang ◽  
Jinhua She ◽  
Xuzhi Lai ◽  
Min Wu ◽  
Jianlong Qiu ◽  
...  
Keyword(s):  
Tracking Control ◽  
Feedback Linearization ◽  
Control Algorithm ◽  
Control Method ◽  
Robot Manipulator ◽  
Joint Position ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Nominal Model ◽  
Simulation Results

This paper concerns the tracking control of a robot manipulator with unknown uncertainties and disturbances. It presents a new control method that uses only joint position measurements to design a tracking controller. The controller has two parts. One is based on a feedback linearization technique; it makes the nominal model of a manipulator asymptotically track a desired trajectory. The other is based on the idea of equivalent input disturbance (EID); it compensates for uncertainties and disturbances. Together they enable a robot manipulator to precisely track the desired trajectory. The new control algorithm is applied to a two-link robot manipulator, and simulation results demonstrate the validity of this method.

scholarly journals Robust Tracking Control of Aerial Robots Via a Simple Learning Strategy-Based Feedback Linearization

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 1653-1669 ◽  
Author(s):  
Mohit Mehndiratta ◽  
Erkan Kayacan ◽  
Mahmut Reyhanoglu ◽  
Erdal Kayacan
Keyword(s):  
Tracking Control ◽  
Feedback Linearization ◽  
Learning Strategy ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Aerial Robots

Robust Tracking Control for 3 DOF Helicopter Based on Least Squares Support Vector Machine

2013 ◽  
Vol 313-314 ◽  
pp. 370-373
Author(s):  
Jing Mei Zhang ◽  
Lei Xue ◽  
Rui Min Zhang ◽  
Chang Yin Sun
Keyword(s):  
Support Vector Machine ◽  
Least Squares ◽  
Tracking Control ◽  
Control Method ◽  
Tracking Error ◽  
Stability And Convergence ◽  
Support Vector ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Error Dynamic

A robust tracking control method for 3 DOF helicopter via least squares support vector machine with considering uncertainty and bounded disturbance is proposed in this paper. The inversion errors which is brought due to modeling errors and uncertainty can be compensated by least squares support vector machine, and the optimal regulator guaranteed dynamic characteristics of approximate linearization system and response quality of tracking error dynamic. Finally, the stability and convergence analysis of error dynamic system is proven by Lyapunov stability theory and numerical simulations have demonstrated the effectiveness of the proposed approach.

Robust Tracking Control Based QFT and Pade Approximation for Flight Simulator

2011 ◽  
Vol 383-390 ◽  
pp. 7600-7606
Author(s):  
Zheng Hua Liu ◽  
Dong Kai Shen ◽  
Shi Zhang Liu
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Padé Approximation ◽  
Flight Simulator ◽  
Robust Tracking ◽  
Pade Approximation ◽  
Robust Tracking Control ◽  
Dynamic Tracking ◽  
Feedforward Controller ◽  
Simulation Results

A new design technique based QFT and Pade Approximation for tracking control has been proposed. QFT controller attempts to place all plant poles within a specified region on the s-plane to guarantee the desired closed loop performance. As for the robust dynamic tracking performance, a new algorithm to design the feedforward controller based pade approximation has been prescribed in the case that the preview information of the desired output is not available. Simulation results for flight simulator show that the proposed approach is effective, successful and applicable.

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