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Design of Adaptive Switching Controller for Robotic Manipulators with Disturbance
Joint Authors
Yang, Zhen
Fei, Shumin
Wang, Fang
Lv, Jiaguo
Dong, Xishang
Source
Mathematical Problems in Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-07-26
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
Two adaptive switching control strategies are proposed for the trajectory tracking problem of robotic manipulator in this paper.
The first scheme is designed for the supremum of the bounded disturbance for robot manipulator being known; while the supremum is not known, the second scheme is proposed.
Each proposed scheme consists of an adaptive switching law and a PD controller.
Based on the Lyapunov stability theorem, it is shown that two new schemes can guarantee tracking performance of the robotic manipulator and be adapted to the alternating unknown loads.
Simulations for two-link robotic manipulator are carried out and show that the two schemes can avoid the overlarge input torque, and the feasibility and validity of the proposed control schemes are proved.
American Psychological Association (APA)
Yang, Zhen& Fei, Shumin& Wang, Fang& Lv, Jiaguo& Dong, Xishang. 2016. Design of Adaptive Switching Controller for Robotic Manipulators with Disturbance. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-9.
https://search.emarefa.net/detail/BIM-1112566
Modern Language Association (MLA)
Yang, Zhen…[et al.]. Design of Adaptive Switching Controller for Robotic Manipulators with Disturbance. Mathematical Problems in Engineering No. 2016 (2016), pp.1-9.
https://search.emarefa.net/detail/BIM-1112566
American Medical Association (AMA)
Yang, Zhen& Fei, Shumin& Wang, Fang& Lv, Jiaguo& Dong, Xishang. Design of Adaptive Switching Controller for Robotic Manipulators with Disturbance. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-9.
https://search.emarefa.net/detail/BIM-1112566
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1112566