Robust Computed Torque Control for Uncertain Robotic Manipulatorss
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This paper presents a robust control method for the trajectory control of the robotic manipulator. The standard Computed Torque Control (CTC) is an important method in the robotic control systems but its not robust to system uncertainty and external disturbance. The proposed method overcome the system uncertainty and external disturbance problems. In this paper, a robustification term has been added to the standard CTC. The stability of the proposed control method is approved by the Lyapunov stability theorem. The performance of the presented controller is tested by MATLAB-Simulink environment and is compared with different control methods to illustrate its robustness and performance.
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2020 ◽
Vol 18
(2)
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pp. 269
2019 ◽
Vol 8
(1)
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pp. 44
Dynamic Analysis Of Two Link Robot Manipulator For Control Design Using PID Computed Torque Control.
2016 ◽
Vol 5
(4)
◽
pp. 277
2019 ◽
Vol 10
(1)
◽
pp. 75-90
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