A New Type of Robust Tracking SP-D Control for Manipulators
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- Tanaka Natsuo
- JAIST
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- Fujita Masayuki
- JAIST
Bibliographic Information
- Other Title
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- New Type of Robust Tracking SP-D Contro
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Abstract
This paper is concerned with a new type of robust tracking control scheme for robot manipulators using SP-D (Saturated Proportional and Differential) feedback loops. In this paper, the control scheme based on quasi-natural potential is generalized from set-point regulation to trajectory tracking by exploiting an effective auxiliary variable which consists of a saturated positional error and a velocity error. Without any uncertainties in the manipulator model, the generalized tracking SP-D control scheme ensures globally asymptotic stability. In the presence of parametric model uncertainties, the tracking SP-D control scheme is improved in order to be robust against the uncertainties. The proposed robust tracking SP-D controller is able to guarantee globally uniformly ultimate boundedness theoretically. Experimental results on a two-link direct drive manipulator with the robust tracking controller are in agreement with the theoretical analysis and show the effectiveness of the control scheme.
Journal
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- IEEJ Transactions on Electronics, Information and Systems
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IEEJ Transactions on Electronics, Information and Systems 117 (10), 1529-1534, 1997
The Institute of Electrical Engineers of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390282679584352384
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- NII Article ID
- 130006843570
- 10002812006
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- NII Book ID
- AN10065950
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- ISSN
- 13488155
- 03854221
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- NDL BIB ID
- 4303606
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- Text Lang
- en
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed