Tracking Control Of Rigid-Link Electrically-Driven Robot Manipulators

    Authors

    D. M. Dawson; Z. Qu;J. J. Carroll

    Comments

    Authors: contact us about adding a copy of your work at STARS@ucf.edu

    Abbreviated Journal Title

    Int. J. Control

    Keywords

    FEEDBACK; Automation & Control Systems

    Abstract

    This paper illustrates a simple, hand-crafted approach which can be used to design tracking controllers for rigid-link electrically-driven (RLED) robot manipulators. The control methodology is intuitively simple since it is based on concepts readily identified by most control engineers. To illustrate the approach, we develop a corrective tracking controller for the RLED robot dynamics which yields global exponential stability for the link tracking error under the assumption of exact model knowledge. To compensate for the uncertainties in the rigid-link electrically-driven robot model, we then design a corrective robust tracking controller which yields global uniform ultimate bounded stability of the link tracking error. The proposed controller is robust with regard to parametric uncertainties and additive bounded disturbances while correcting for the typically ignored electrical actuator dynamics.

    Journal Title

    International Journal of Control

    Volume

    56

    Issue/Number

    5

    Publication Date

    1-1-1992

    Document Type

    Article

    Language

    English

    First Page

    991

    Last Page

    1006

    WOS Identifier

    WOS:A1992JX01800001

    ISSN

    0020-7179

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