Robust Adaptive Tracking Control Design of Robot Systems under Parameter Perturbation and External Disturbance: A Minimax H∞ Dynamic Game Approach

2019 ◽  
pp. 83-108
Author(s):  
Bor-Sen Chen
Keyword(s):  
Tracking Control ◽  
External Disturbance ◽  
Dynamic Game ◽  
Control Design ◽  
Parameter Perturbation ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking ◽  
Robot Systems ◽  
Robust Adaptive

Robust Adaptive Tracking Control of a Quadrotor Helicopter with Uncertainties

2021 ◽  
Author(s):  
Zhao Chen ◽  
Xiaohong Nian ◽  
Pengcheng Xu ◽  
Haoyuan Wu
Keyword(s):  
Tracking Control ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking ◽  
Quadrotor Helicopter ◽  
Robust Adaptive

Energy Comparisons of the Adaptive Tracking Control for a Linear Drive System

2015 ◽  
Vol 764-765 ◽  
pp. 602-606 ◽  
Author(s):  
Kun Yung Chen ◽  
Rong Fong Fung
Keyword(s):  
Tracking Control ◽  
External Disturbance ◽  
Hamiltonian Function ◽  
Electrical Energy ◽  
Drive System ◽  
Nonlinear Friction ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking ◽  
Tracking Controller ◽  
Linear Drive System

In this paper, a mechatronic motor-table system is realized to plan the minimum input electrical energy trajectory (MIEET) based on Hamiltonian function. In this system, the adaptive tracking controller is designed to track the MIEET to overcome the nonlinear friction and external disturbance. Moreover, trapezoidal trajectory (TT) and regulator control are compared with the MIEET by the adaptive tracking controller. Finally, it is concluded that the MIEET based on the adaptive tracking controller can obtain the minimum input electrical energy and robustness performance for the mechatronic motor table system.

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