Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators

Journal of Control Science and Engineering. 2008;2008 DOI 10.1155/2008/520591

 

Journal Homepage

Journal Title: Journal of Control Science and Engineering

ISSN: 1687-5249 (Print)

Publisher: Hindawi Publishing Corporation

LCC Subject Category: Technology: Engineering (General). Civil engineering (General) | Science: Mathematics: Instruments and machines: Electronic computers. Computer science

Country of publisher: Egypt

Language of fulltext: English

Full-text formats available: PDF, HTML, ePUB, XML

 

AUTHORS

Yi Zuo (College of Electric and Information Technology, Hunan University, Changsha, Hunan 410082, China)
Yaonan Wang (College of Electric and Information Technology, Hunan University, Changsha, Hunan 410082, China)
Lihong Huang (College of Mathematics and Econometrics, Hunan University, Changsha, Hunan 410082, China)
Chunsheng Li (College of Electric and Information Technology, Hunan University, Changsha, Hunan 410082, China)

EDITORIAL INFORMATION

Blind peer review

Editorial Board

Instructions for authors

Time From Submission to Publication: 19 weeks

 

Abstract | Full Text

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.