Robust tracking control of robot manipulators with friction and variable loads without velocity measurement: A switched control strategy
| Autor: | Elizabeth Noghreian, Hamid Reza Koofigar |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Output feedback
0209 industrial biotechnology Computer science Mechanical Engineering Position tracking 020208 electrical & electronic engineering Control (management) Robot manipulator 02 engineering and technology Tracking (particle physics) Nonlinear system Variable (computer science) 020901 industrial engineering & automation Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering Velocity measurement |
| Zdroj: | Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering. 235:532-539 |
| ISSN: | 2041-3041 0959-6518 |
| DOI: | 10.1177/0959651820947944 |
| Popis: | This article addresses the adaptive-based robust output feedback tracking control for robot manipulators with friction and alternating unknown loads. A switched nonlinear system is first established to model the friction and parameter variations, caused by the load change. Under arbitrary load changings, an adaptive [Formula: see text] tracking control strategy is proposed to ensure link position tracking, in the presence of uncertainties and external disturbances. Then, for bounded external disturbances, a novel robust adaptive output tracking control strategy is developed, which guarantees all the closed-loop signals are bounded and tracking error is driven to zero. Unlike some previous studies, the proposed algorithms do not require velocity measurements, and the unknown switched parameters and disturbances are neither required to be periodic nor to have known bounds. A simulation study is also given to demonstrate the analytically proved properties of the proposed schemes. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|