scholarly journals Robust Tracking Control of Robot Manipulator Using Dissipativity Theory

2008 ◽  
Vol 2 (4) ◽  
Author(s):  
Hongrui Wang ◽  
Zhanfang Feng ◽  
Xiuling Liu
Keyword(s):  
Tracking Control ◽  
Robot Manipulator ◽  
Robust Tracking ◽  
Robust Tracking Control

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.

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