scholarly journals Robust Tracking Control of Variable Stiffness Joint Based on Feedback Linearization and Disturbance Observer With Estimation Error Compensation

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 173732-173754
Author(s):  
Jishu Guo
Keyword(s):  
Error Compensation ◽  
Tracking Control ◽  
Feedback Linearization ◽  
Disturbance Observer ◽  
Estimation Error ◽  
Variable Stiffness ◽  
Robust Tracking ◽  
Robust Tracking Control

scholarly journals Robust Tracking Control of Aerial Robots Via a Simple Learning Strategy-Based Feedback Linearization

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 1653-1669 ◽  
Author(s):  
Mohit Mehndiratta ◽  
Erkan Kayacan ◽  
Mahmut Reyhanoglu ◽  
Erdal Kayacan
Keyword(s):  
Tracking Control ◽  
Feedback Linearization ◽  
Learning Strategy ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Aerial Robots

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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