scholarly journals Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators

2008 ◽  
Vol 2008 ◽  
pp. 1-13 ◽  
Author(s):  
Yi Zuo ◽  
Yaonan Wang ◽  
Lihong Huang ◽  
Chunsheng Li
Keyword(s):  
Upper Bound ◽  
Hybrid Control ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
External Disturbances ◽  
Computer Methods ◽  
Uncertain Dynamics ◽  
Asymptotic Error ◽  
Feedforward Controller ◽  
System Uncertainties

We address the problem of robust tracking control using a PD-plus-feedforward controller and an intelligent adaptive robust compensator for a rigid robotic manipulator with uncertain dynamics and external disturbances. A key feature of this scheme is that soft computer methods are used to learn the upper bound of system uncertainties and adjust the width of the boundary layer base. In this way, the prior knowledge of the upper bound of the system uncertainties does need not to be required. Moreover, chattering can be effectively eliminated, and asymptotic error convergence can be guaranteed. Numerical simulations and experiments of two-DOF rigid robots are presented to show effectiveness of the proposed scheme.

scholarly journals Robust Tracking Control for Robotic Manipulator via Fuzzy Logic System andH∞Approaches

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
Kun Mu ◽  
Cong Liu ◽  
Jinzhu Peng
Keyword(s):  
Fuzzy Logic ◽  
Tracking Control ◽  
Robotic Manipulator ◽  
Fuzzy Logic System ◽  
Torque Control ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
External Disturbances ◽  
Control Scheme ◽  
Logic System

Based on fuzzy logic system (FLS) andH∞control methodologies, a robust tracking control scheme is proposed for robotic system with uncertainties and external disturbances. FLS is employed to implement the framework of computed torque control (CTC) method via its approximate capability which is used to attenuate the nonlinearity of robotic manipulator. The robustH∞control can guarantee robustness to parametric and dynamics uncertainties and also attenuate the effect of immeasurable external disturbances entering the system. Moreover, a quadratic stability approach is used to reduce the conservatism of the conventional robust control approach. It can be guaranteed that all signals in the closed-loop are bounded by employing the proposed robust tracking control. The validity of the proposed control scheme is shown by simulation of a two-link robotic manipulator.

scholarly journals Robust Tracking Control for Switched Fuzzy Systems with Fast Switching Controller

2012 ◽  
Vol 2012 ◽  
pp. 1-21 ◽  
Author(s):  
Hong Yang ◽  
Le Zhang ◽  
Xiaodong Liu
Keyword(s):  
Hybrid Control ◽  
Convex Combination ◽  
Good Control ◽  
Smooth Transition ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Switching Law ◽  
Fast Switching ◽  
Control Schemes ◽  
Switching Controller

This paper addresses the problem of designing robust tracking controls for a class of switched fuzzy (SF) systems with time delay. A switched fuzzy system, which differs from existing ones, is firstly employed to describe a nonlinear system. Next, a fast switching controller consisting of a number of simple subcontrollers is proposed. The smooth transition is governed by using the fast switching controller. Tracking hybrid control schemes which are based upon a combination of theH∞tracking theory, fast switching control algorithm, and switching law design are developed such that theH∞model referent tracking performance is guaranteed. Since convex combination techniques are used to derive the delay independent criteria, some subsystems are allowed to be unstable. Finally, various comparisons of the elaborated examples are conducted to demonstrate the effectiveness of the proposed control design approach. All results illustrate good control performances as desired.

Robust Tracking Control Based QFT and Pade Approximation for Flight Simulator

2011 ◽  
Vol 383-390 ◽  
pp. 7600-7606
Author(s):  
Zheng Hua Liu ◽  
Dong Kai Shen ◽  
Shi Zhang Liu
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Padé Approximation ◽  
Flight Simulator ◽  
Robust Tracking ◽  
Pade Approximation ◽  
Robust Tracking Control ◽  
Dynamic Tracking ◽  
Feedforward Controller ◽  
Simulation Results

A new design technique based QFT and Pade Approximation for tracking control has been proposed. QFT controller attempts to place all plant poles within a specified region on the s-plane to guarantee the desired closed loop performance. As for the robust dynamic tracking performance, a new algorithm to design the feedforward controller based pade approximation has been prescribed in the case that the preview information of the desired output is not available. Simulation results for flight simulator show that the proposed approach is effective, successful and applicable.

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