Robust model reference tracking for uncertain second‐order nonlinear systems with application to robot manipulator

Tian, Guangtai; Duan, Guang‐Ren

doi:10.1002/rnc.6450

Cited by 10 publications

(1 citation statement)

References 34 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This work inspired subsequent researchers to combine robust control and adaptive control. In addition, a control method called model reference adaptive control [28,29] achieves tracking by introducing a reference model, giving inputs to both the real system and the reference model, recording the output errors of the two systems, and utilizing the errors for adaptive adjustment of the controller's parameters so as to make the errors converge to zero [30][31][32]. Many of the methods proposed above ultimately use model-based control [33], i.e., there exists a nominal robot dynamic model, and the uncertainties in the remaining part are compensated for using robust or adaptive control.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Robust Adaptive Control of Universal Manipulators Based on Desired Trajectory

Chen,

Ding,

Chen

et al. 2024

Applied Sciences

View full text Add to dashboard Cite

The introduction of a dynamic model in robot trajectory tracking control design can significantly improve its trajectory tracking accuracy, but there are many uncertainties in the robot dynamic model which can be dealt with through robust control and adaptive control. The prevailing robust control as well as adaptive control methods require real-time computation of robot dynamics, but the extreme complexity of the robot dynamics equations makes it difficult to apply these methods in real industrial systems. To this end, this article proposes a robust adaptive control method based on the desired trajectory, which uses the desired trajectory to compute most of the control terms offline, including the robot’s nominal dynamics and regression matrices, and substantially reduces the need for real-time computation of the feedback signals. The robust term modifies the perturbation of the inertial parameters of the links, the adaptive term learns the friction coefficients of the joints online, and an additional compensation term is designed to satisfy the Lyapunov stability condition of the system. Finally, taking a universal manipulator as the experimental platform, the control performances of different control methods are compared to show the feasibility of the controller and the effective reduction in real-time computational complexity.

show abstract

Section: Introductionmentioning

confidence: 99%

Nonlinear Robust Adaptive Control of Universal Manipulators Based on Desired Trajectory

Chen,

Ding,

Chen

et al. 2024

Applied Sciences

View full text Add to dashboard Cite

show abstract

Fully actuated system approach to robust control of uncertain multi‐order sub‐fully actuated systems

Zhang,

Duan

2024

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

Motivated by the fully actuated system (FAS) approach, this paper proposes a direct robust control method for a type of uncertain multi‐order sub‐fully actuated systems (MOSFASs). Unlike numerous previous results, this paper broadens to a more general multi‐order model and the more challenging sub‐fully actuated case with the presence of singular problems. Firstly, a general uncertain MOSFAS model is presented, where the uncertainty merely needs to satisfy a common assumption. Secondly, a direct robust control method is proposed, giving a robust controller which only needs to satisfy very loose and basic requirements to ensure that the states ultimately converge into an arbitrarily small region. Simultaneously, by constraining the initial values of the states, it is perfectly guaranteed that the states always remain in a “safe” zone free of singular points, thus preserving the realizability of the controller. Finally, under certain conditions, a less conservative robust control scheme is introduced, which can relax the constraint of initial values easily. A simulation for a coarse‐fine angle system demonstrates the validity and value of the proposed robust control method.

show abstract

Fully actuated system approach to robust control for uncertain active suspension systems

Zhang,

Zhou,

Sun

et al. 2024

Nonlinear Dyn

View full text Add to dashboard Cite

Robust model reference tracking for uncertain second‐order nonlinear systems with application to robot manipulator

Cited by 10 publications

References 34 publications

Nonlinear Robust Adaptive Control of Universal Manipulators Based on Desired Trajectory

Nonlinear Robust Adaptive Control of Universal Manipulators Based on Desired Trajectory

Fully actuated system approach to robust control of uncertain multi‐order sub‐fully actuated systems

Fully actuated system approach to robust control for uncertain active suspension systems

Contact Info

Product

Resources

About