Design of non-fragile controller for motion control of robot manipulator

Author

Binoo, K.J. ; Sengupta, Sabyasachi ; Ray, G.

Author_Institution

Dept. of Electr. Eng., Indian Inst. of Technol., Kharagpur, Kharagpur, India

fYear

2014

fDate

20-22 Dec. 2014

Firstpage

749

Lastpage

752

Abstract

This paper presents a design of PI type non-fragile controller for trajectory tracking and disturbance rejection of robot manipulators. The state equation of a robot manipulator is transformed to Canonical form and subsequently an error dynamic equation is obtained. Stability analysis and convergence of trajectory tracking error are investigated. Simulation results illustrating the performance of the proposed control algorithm for trajectary tracking of a robot manipulator with high precision tracking and improved convergence are presented.

Keywords

control system synthesis; design engineering; manipulators; motion control; PI type nonfragile controller; canonical form; disturbance rejection; error dynamic equation; high precision tracking; motion control; nonfragile controller design; robot manipulator; stability analysis; state equation; trajectory tracking error; Equations; Gold; Manipulator dynamics; Trajectory; Uncertainty; Canonical form; Optimal control; Riccatti equation; end effector; error dynamics; uncertainties;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Computer Engineering (ICECE), 2014 International Conference on

Conference_Location

Dhaka

Print_ISBN

978-1-4799-4167-4

Type

conf

DOI

10.1109/ICECE.2014.7026960

Filename

7026960