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Adaptive Robust Quadratic Stabilization Tracking Control for Robotic System with Uncertainties and External Disturbances
Joint Authors
Source
Journal of Control Science and Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-03-25
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
An adaptive robust quadratic stabilization tracking controller with hybrid scheme is proposed for robotic system with uncertainties and external disturbances.
The hybrid scheme combines computed torque controller (CTC) with an adaptive robust compensator, in which variable structure control (VSC) and H ∞ optimal control approaches are adopted.
The uncertain robot manipulator is mainly controlled by CTC, the VSC is used to eliminate the effect of the uncertainties and ensure global stability, and H ∞ approach is designed to achieve a certain tracking performance of closed-loop system.
A quadratic stability approach, which allows separate treatment of parametric uncertainties, is used to reduce the conservatism of the conventional robust control approach.
It can be also guaranteed that all signals in closed-loop system are bounded.
The validity of the proposed control scheme is shown by computer simulation of a two-link robotic manipulator.
American Psychological Association (APA)
Peng, Jinzhu& Liu, Yan. 2014. Adaptive Robust Quadratic Stabilization Tracking Control for Robotic System with Uncertainties and External Disturbances. Journal of Control Science and Engineering،Vol. 2014, no. 2014, pp.1-10.
https://search.emarefa.net/detail/BIM-1040212
Modern Language Association (MLA)
Peng, Jinzhu& Liu, Yan. Adaptive Robust Quadratic Stabilization Tracking Control for Robotic System with Uncertainties and External Disturbances. Journal of Control Science and Engineering No. 2014 (2014), pp.1-10.
https://search.emarefa.net/detail/BIM-1040212
American Medical Association (AMA)
Peng, Jinzhu& Liu, Yan. Adaptive Robust Quadratic Stabilization Tracking Control for Robotic System with Uncertainties and External Disturbances. Journal of Control Science and Engineering. 2014. Vol. 2014, no. 2014, pp.1-10.
https://search.emarefa.net/detail/BIM-1040212
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1040212