Robust Adaptive Tracking Control of a Class of Robot Manipulators with Model Uncertainties | Zendy

Gualberto SolísPerales | Zendy; R. Peón-Escalante | Zendy

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Robust Adaptive Tracking Control of a Class of Robot Manipulators with Model Uncertainties

Author(s) -

Gualberto SolísPerales,

R. Peón-Escalante

Publication year - 2012

Publication title -

modelling and simulation in engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.264

H-Index - 20

eISSN - 1687-5591

pISSN - 1687-5605

DOI - 10.1155/2012/271705

Subject(s) - control theory (sociology) , robust control , controller (irrigation) , nonlinear system , robot , robot manipulator , control engineering , adaptive control , angular velocity , estimator , computer science , engineering , control system , control (management) , mathematics , artificial intelligence , physics , agronomy , quantum mechanics , biology , statistics , electrical engineering

A robust tracking controller for robot manipulators measuring only the angular positions and considering model uncertainties is presented. It is considered that the model is uncertain; that is, the system parameters, nonlinear terms, external perturbations, and the friction effects in each robot joint are considered unknown. The controller is composed by two parts, a linearizing-like control feedback and a high-gain estimator. The main idea is to lump the uncertain terms into a new state which represents the dynamics of the uncertainties. This new state is then estimated in order to be compensated. In this way the resulting controller is robust. A numerical example for a RR robot manipulator is provided, in order to corroborate the results

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