Open AccessModel tracking controller design of robot manipulator system with disturbances
Author(s) -
Dazhong Wang,
Shaochuan Wu,
Guoqiang Wang,
Shuhei Okubo
Publication year - 2015
Publication title -
advances in mechanical engineering/advances in mechanical engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.318
H-Index - 40
eISSN - 1687-8140
pISSN - 1687-8132
DOI - 10.1177/1687814015592367
Subject(s) - control theory (sociology) , control engineering , scheme (mathematics) , robot , tracking (education) , controller (irrigation) , nonlinear system , computer science , engineering , control (management) , mathematics , artificial intelligence , psychology , pedagogy , agronomy , biology , mathematical analysis , physics , quantum mechanics
In the model tracking control of robot manipulator system, the treatment of nonlinear uncertainty in the system has always been an active research field. This article establishes a kinetic equation for robot manipulator system based on Lagrange equation and proposes a model tracking control system based on differential divisor. On this basis, this article proposes a model tracking control scheme for robot manipulator systems with disturbances. The proposed scheme is robust stable under the external disturbances. At last, the system simulation approach is employed to verify the effectiveness of this scheme on robot manipulator control