Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators
Joint Authors
Zuo, Yi
Huang, Lihong
Li, Chunsheng
Wang, Yaonan
Source
Journal of Control Science and Engineering
Issue
Vol. 2008, Issue 2008 (31 Dec. 2008), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2008-06-19
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
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.
American Psychological Association (APA)
Zuo, Yi& Wang, Yaonan& Huang, Lihong& Li, Chunsheng. 2008. Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators. Journal of Control Science and Engineering،Vol. 2008, no. 2008, pp.1-13.
https://search.emarefa.net/detail/BIM-478271
Modern Language Association (MLA)
Zuo, Yi…[et al.]. Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators. Journal of Control Science and Engineering No. 2008 (2008), pp.1-13.
https://search.emarefa.net/detail/BIM-478271
American Medical Association (AMA)
Zuo, Yi& Wang, Yaonan& Huang, Lihong& Li, Chunsheng. Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators. Journal of Control Science and Engineering. 2008. Vol. 2008, no. 2008, pp.1-13.
https://search.emarefa.net/detail/BIM-478271
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-478271