Proper uncertainty bound parameter to robust control of electrical manipulators using nominal model

Nonlinear Dynamics

Volumn 61, Issue 4, 2010, Pages 655-666

  Fateh, Mohammad Mehdi ^a  

^a SHAHROOD UNIVERSITY OF TECHNOLOGY   (Iran)

Author keywords

Electrical manipulator; Nominal model; Robust control; Uncertainty bound parameter

Indexed keywords

CONTROL PURPOSE; ELECTRICAL MANIPULATOR; HIGHER FREQUENCIES; NOMINAL MODELS; OPTICAL ENCODER; STABILITY ANALYSIS; SWITCHING CONTROL; TRACKING ERRORS; UNCERTAINTY BOUNDS; WHOLE SYSTEMS; WORST CASE;

FREQUENCY ESTIMATION; MANIPULATORS;

ROBUST CONTROL;

EID: 77956617875     PISSN: 0924090X     EISSN: None     Source Type: Journal    
DOI: 10.1007/s11071-010-9677-7     Document Type: Article

References (22)

1. C. Abdallah D. Dawson P. Dorato M. Jamshidi 1991 Survey of robust control for rigid robots IEEE Control Syst. Mag. 11 24 30 10.1109/37.67672
2. M.J. Corless 1993 Control of uncertain nonlinear systems ASME Trans. J. Dyn. Syst. Meas. Control 115 2B 362 372 0775.93088 10.1115/1.2899076 1211295
3. Qu, Z., Dawson, D.M.: Robust Tracking Control of Robot Manipulators. IEEE Press, New York (1996)
4. H.G. Sage M.F. De Mathelin E. Ostertag 1999 Robust control of robot manipulators: a survey Int. J. Control 72 16 1498 1522 0941.93501 10.1080/002071799220137
5. Slotine, J.J.E., Li, W.: Applied Nonlinear Control. Prentice Hall International, Englewood Cliffs (1991)
6. C. Liu C.C. Cheah J.J.E. Slotine 2006 Adaptive Jacobian tracking control of rigid-link electrically driven robots based on visual task-space information Automatica 42 1491 1501 1128.93372 10.1016/j.automatica.2006.04.022 2246838 (Pubitemid 44080742)
7. M.M. Fateh 2008 On the voltage-based control of robot manipulators Int. J. Control Autom. Syst. 6 5 702 712
8. M. Corless G. Leitmann 1981 Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamics systems IEEE Trans. Autom. Control 26 1139 1144 0473.93056 10.1109/TAC.1981.1102785 631275
9. G. Leitmann 1981 On the efficacy of nonlinear control in uncertain linear systems ASME Trans. J. Dyn. Syst. Meas. Control 102 95 102 10.1115/1.3139661 619831
10. Spong, M.W.: Motion control of robot manipulators. In: Handbook of Control, pp. 1339-1350. CRC Press, Boca Raton (1996)
11. M.W. Spong 1992 On the robust control of robot manipulators IEEE Trans. Automat. Control 37 1782 1786 0778.93082 10.1109/9.173151 1195222
12. S. Torres J.A. Mendez L. Acosta V.M. Becerra 2007 On improving the performance in robust controllers for robot manipulators with parametric disturbances Control Eng. Pract. 15 557 566 10.1016/j.conengprac.2006.10.003 (Pubitemid 46112207)
13. R. Burkan I. Uzmay 2003 Upper bounding estimation for robustness to the parameter uncertainty in trajectory control of robot arm Robot. Autonom. Syst. 45 99 110 10.1016/j.robot.2003.07.001
14. D.M. Dawson Z. Qu J.J. Carroll 1992 Tracking control of rigid link electrically-driven robot manipulators Int. J. Control 56 991 1006 0800.93859 10.1080/00207179208934354 1187837
15. J.V. Miro A.S. White 2002 Modelling an industrial manipulator a case study Simul. Pract. Theory 9 293 319 1011.68816 10.1016/S0928-4869(01)00046-5
16. Spong, M.W., Hutchinson, S., Vidyasagar, M.: Robot Modelling and Control. Wiley, New York (2006)
17. Klafter, R.D., Chmielewski, T.A., Negin, M.: Robotic Engineering: An Integrated Approach. Prentice-Hall, New York (1989)
18. A. Jaritz M.W. Spong 1996 An experimental comparison of robust control algorithms on a direct drive manipulator IEEE Trans. Control Syst. Technol. 6 4 627 640 10.1109/87.541692
19. J.E. Mcinroy G.N. Saridis 1990 Acceleration and torque feedback for robotic control: experimental results J. Robot. Syst. 7 813 832 10.1002/rob.4620070603
20. E. Dumetz J.Y. Dieulot P.J. Barre F. Colas T. Delplace 2006 Control of an industrial robot using acceleration feedback J. Intell. Robot. Syst. 46 111 128 10.1007/s10846-006-9042-8 (Pubitemid 44325392)
21. Tsuji, T., Kobayashi, H.: Robust acceleration control based on acceleration measurement using optical encoder. In: IEEE International Symposium on Industrial Electronics, 4-7 June 2007, Vigo, Spain, pp. 3108-3113 (2007)
22. Tsuji, T., Mizuochi, M., Nishi, H., Ohnishi, K.: A velocity measurement method for acceleration control. In: Proceedings of International Conference on Industrial Electronics, Control and Instrumentation, pp. 1943-1948 (2005) (Pubitemid 44549576)