Sampled data output regulation of n-link robotic manipulator using a realizable reconstruction filter

Abstract

SUMMARYThis paper proposes a solution to the sampled-data regulation problem for feedback linearizable n-link robotic manipulators. The prime focus is on the development and stability analysis of the proposed control scheme in the presence of model uncertainties and external disturbances. A major constraint is the availability of sampled measurements of output signal. This leads to designing an impulsive observer for feedback linearization. The discrete-time control input is mapped into its continuous-time counterpart using a realizable reconstruction filter (RRF). The underlying control scheme relies on the sampled-data regulator theory based on the discrete-time equivalence of the plant and RRF modeled as impulsive system. This method leads to controller/observer design in discrete time. The working of the entire scheme is dependent on the stability of impulsive observer; hence a Lyapunov-based stability analysis is also included to ensure the stability of a closed-loop system. The working of the proposed scheme along with a comparison with conventional solution is presented, when applied to the control of a 3-degree-of-freedom PUMA 560 robot.

Stability Analysis and T-S Fuzzy Dynamic Positioning Controller Design for Autonomous Surface Vehicles Based on Sampled-Data Control

“…Recently, sampled-data system has become an important topic, because modern control systems widely used the digital computers to control continuous-time systems (see [28][29][30]). Until now, the system has attracted many attention of scholars, and considerable results have been reported for that system (see [31][32][33][34][35][36][37][38][39]). The ASV with DPS is also a sampled-data system, where a variety of sensors is used by digital computers to obtain several kinds of sensor information, such as higher accuracy position, heading, velocity and so on.…”