Asymptotically stable robust control of robot manipulators

Liu, G.; Goldenberg, A.A.

doi:10.1109/robot.1994.350888

Cited by 4 publications

(3 citation statements)

References 11 publications

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“…Preliminary work in this field focused primarily on robust control of robotic manipulators with parameterized uncertainties (Spong, 1992), (Keun-Mo Koo and Jong-Hwan Kim, 1994), (Liu and Goldenberg, 1994). In their subsequent analysis, Liu and Goldenberg (1996), have made a clear distinction between 'parameterized uncertainty' and 'unparameterized uncertainty' for robot manipulators.…”

Section: Introductionmentioning

confidence: 99%

“…A key problem with similar studies is need for higher controller gains. It is well-known that due to practical hardware issues such as high frequency dynamics and actuator saturation, using higher gains are not preferable (Liu and Goldenberg, 1994), (Liu and Goldenberg, 1996). An additional problem with above-given controller on full-car suspension system is that the results on time domain are remarkable while those of frequency responses are not reasonable.…”

Section: Introductionmentioning

confidence: 99%

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Robust control of vehicle suspension systems with friction non-linearity for ride comfort enhancement

Ozbek

Burkan

Yağiz

2023

Journal of Vibration and Control

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Robust controllers are attracting considerable interest in control of dynamic systems due to their capability of eliminating parameterized or unparameterized uncertainties. Therefore, model based robust control law is proposed in this study for ride comfort enhancement and applied on a 7 degree-of-freedom full-car suspension system with friction non-linearity. Inertia, spring and damping forces of the system are modelled with parameterized uncertainties while friction forces and external disturbances are considered as unmodelled dynamics, namely, unparameterized uncertainties. To better understand the effectiveness of proposed controller, a dry friction model that has non-linear characteristics is used for analysis. Closed-loop stability of the system is achieved by using well-known Lyapunov Stability Theorem. To better evaluate the effect of proposed robust controller on ride comfort enhancement with successful road holding, extensive numerical analysis is performed and the results are compared with those of previous similar controller and passive suspension system. The effectiveness of proposed control method has been confirmed. Consequently, satisfactory results have been obtained proving that the ride comfort of a vehicle that has both parameterized and unparameterized uncertainties has been further improved with reasonable power consumption values for a vehicle in terms of economic viability.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust control of vehicle suspension systems with friction non-linearity for ride comfort enhancement

Ozbek

Burkan

Yağiz

2023

Journal of Vibration and Control

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show abstract

“…As even single link manipulator is nonlinear in nature so conventional control technique is not suitable for the control of multilink manipulator as nonlinearities increasing in a drastic manner [10]. In past years, many robust control techniques have been proposed to overcome nonlinearities and disturbances for control of robot manipulator [11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

Robust Control Based Stability Analysis and Trajectory Tracking of Triple Link Robot Manipulator

Gupta¹,

Kumar²,

Verma³

et al. 2021

JESA

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In this paper the stability and tracking control for robot manipulator subjected to known parameters is proposed using robust control technique. The modelling of robot manipulator is obtained using Euler- Lagrange technique. Three link manipulators have been taken for the study of robust control techniques. Lyapunov based approach is used for stability analysis of triple link robot manipulator. The Ultimate upper bound parameter (UUBP) is estimated by the worst-case uncertainties subject to bounded conditions. The proposed robust control is also compared with computer torque control to show the superiority of the proposed control law.

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High-quality bounded robust robot stabilizing control

Gruyitch¹,

Kokosy²

Proceedings of the 36th IEEE Conference on Decision and Control

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Asymptotically stable robust control of robot manipulators

Cited by 4 publications

References 11 publications

Robust control of vehicle suspension systems with friction non-linearity for ride comfort enhancement

Robust control of vehicle suspension systems with friction non-linearity for ride comfort enhancement

Robust Control Based Stability Analysis and Trajectory Tracking of Triple Link Robot Manipulator

High-quality bounded robust robot stabilizing control

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