Observer-Based Robust Adaptive Control for the Synchronization of Uncertain Multiple Robot Manipulators

Mohammed, Abdul Rehan Khan; Zhang, Jiayi; Silverstone, Benjamin; Ahmad, Bilal

doi:10.1109/icps58381.2023.10127998

2023 IEEE 6th International Conference on Industrial Cyber-Physical Systems (ICPS) 2023

DOI: 10.1109/icps58381.2023.10127998

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Observer-Based Robust Adaptive Control for the Synchronization of Uncertain Multiple Robot Manipulators

Abdul Rehan Khan Mohammed

Jiayi Zhang

Benjamin Silverstone

et al.

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2024

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Enhanced trajectory tracking of robotic manipulators using velocity observer-integrated computed torque control

Ibari,

Hebali,

Rezali

et al. 2024

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In robotic systems, the required torque to control manipulator joints is essential for precise motion and stability. Computed Torque Control (CTC) is a widely recognized method used to achieve accurate trajectory tracking in robotic manipulators, enabling them to follow desired paths with precision. However, despite its strengths, CTC is highly dependent on exact knowledge of the robot’s dynamic model and, as a result, is vulnerable to uncertainties such as parameter variations, unmodeled dynamics, and external disturbances. These limitations can compromise performance and make CTC less reliable in practical applications where real-world conditions introduce unexpected variables. To address these challenges, this paper presents an advanced approach to trajectory tracking that enhances CTC by integrating velocity observer techniques. This combination offers a robust control framework that adapts to disturbances, thereby improving the reliability and overall performance of robotic manipulators under uncertain conditions. The efficacy of the proposed approach is illustrated through simulations conducted on a two-degree-of-freedom (2-DOF) robotic manipulator, demonstrating its ability to maintain accuracy and resilience in complex operational environments.

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Enhanced trajectory tracking of robotic manipulators using velocity observer-integrated computed torque control

Ibari,

Hebali,

Rezali

et al. 2024

SEES

View full text Add to dashboard Cite

show abstract

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Observer-Based Robust Adaptive Control for the Synchronization of Uncertain Multiple Robot Manipulators

Cited by 1 publication

References 40 publications

Enhanced trajectory tracking of robotic manipulators using velocity observer-integrated computed torque control

Enhanced trajectory tracking of robotic manipulators using velocity observer-integrated computed torque control

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