Cascaded Feedback Control Scheme for Trajectory Tracking of Robot Manipulator Systems with Actuator Dynamics

Cartesian Control of a 3-DOF Electro-Pneumatic Actuated Motion Platform with Exteroceptive Pose Measurement

“…The objective of the task space control is designing a feedback controller that allows the execution of an end-effector motion x(t)  R n that tracks the desired mobile platform motion xd(t) as closely as possible, and consequently the regulated error is the error between the measured and desired end-effector pose. So, cartesian space control ensures a direct task control and thus can be more accurate than a joint space one [8], [15]. Control approaches designed in task-space coordinates and which do not require the full dynamic model of the robot neither on-line computation of FK is proposed in this section.…”

Robust Terminal Sliding Mode Control for Robotic Manipulators with Actuator Dynamics

“…By using Takagi-Sugeno fuzzy model, an adaptive control algorithm was presented by Wai & Yang (2008). A cascaded feedback control scheme was developed for robot trajectory tracking control by Jun et al (2010 the asymptotic convergence can be achieved; that is, theoretically, it takes infi nite time for these algorithms to drive the system states to converge to their equilibrium points. To achieve faster convergence and higher control precision, high control gains are generally used by the mentioned control algorithms.…”

On the Cascaded Robust Terminal Sliding Mode Control of Robotic Manipulators Including Actuator Dynamics

“…By using T-S fuzzy model, an adaptive neural network control algorithm is presented by literature (Wai, and Chen, 2008). A cascaded feedback control scheme is developed for robot trajectory tracking control by literature (Jun, Kanaoka, and Kawamura, 2010). Though these algorithms have obtained some good results, they only can achieve asymptotical stability.…”