scholarly journals Convergence and stability of modified Ishikawa iteration sequence with errors

2014 ◽  
Vol 2014 (1) ◽  
Author(s):  
Liping Yang ◽  
Shiguo Peng
Keyword(s):  
Ishikawa Iteration ◽  
Convergence And Stability ◽  
Iteration Sequence

The Design and Simulation for Two-Link Manipulators PD Robust Controller under Uncertain Upper Bound Disturbance

2013 ◽  
Vol 694-697 ◽  
pp. 1652-1655
Author(s):  
Ji Yan Wang
Keyword(s):  
Dynamic Characteristics ◽  
Upper Bound ◽  
Control Method ◽  
Robot Manipulator ◽  
Industrial Robot ◽  
Pd Controller ◽  
Robust Controller ◽  
Convergence And Stability ◽  
Comparison And Analysis ◽  
Driving Torque

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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