A New Model-Free Trajectory Tracking Control for Robot Manipulators
Joint Authors
Wang, Yaoyao
Chen, Bai
Zhu, Kangwu
Hongtao, Wu
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-12-30
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
In this paper, we propose a novel model-free trajectory tracking control for robot manipulators under complex disturbances.
The proposed method utilizes time delay control (TDC) as its control framework to ensure a model-free scheme and uses adaptive nonsingular terminal sliding mode (ANTSM) to obtain high control accuracy and fast dynamic response under lumped disturbance.
Thanks to the application of adaptive law, the proposed method can ensure high tracking accuracy and effective suppression of noise effect simultaneously.
Stability of the closed-loop control system is proved using Lyapunov method.
Finally, the effectiveness and advantages of the newly proposed TDC scheme with ANTSM dynamics are verified through several comparative simulations.
American Psychological Association (APA)
Wang, Yaoyao& Zhu, Kangwu& Chen, Bai& Hongtao, Wu. 2018. A New Model-Free Trajectory Tracking Control for Robot Manipulators. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-13.
https://search.emarefa.net/detail/BIM-1205720
Modern Language Association (MLA)
Wang, Yaoyao…[et al.]. A New Model-Free Trajectory Tracking Control for Robot Manipulators. Mathematical Problems in Engineering No. 2018 (2018), pp.1-13.
https://search.emarefa.net/detail/BIM-1205720
American Medical Association (AMA)
Wang, Yaoyao& Zhu, Kangwu& Chen, Bai& Hongtao, Wu. A New Model-Free Trajectory Tracking Control for Robot Manipulators. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-13.
https://search.emarefa.net/detail/BIM-1205720
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1205720