Disturbance estimation based tracking control for a robotic manipulator

Author

Liu, Chia-Shang ; Peng, Huei

Author_Institution

Dept. of Mech. Eng. & Appl. Mech., Michigan Univ., Ann Arbor, MI, USA

Volume

1

fYear

1997

fDate

4-6 Jun 1997

Firstpage

92

Abstract

A tracking control algorithm based on a disturbance estimation scheme is studied. The tracking control problem is formulated as a disturbance rejection problem, with all the system nonlinearities and uncertainties lumped into disturbance. A disturbance estimation scheme is proposed, which is based on a nominal linear plant dynamics plus proportional error feedback corrections. The tracking control of a telescopic robot arm is used as an example to verify the proposed algorithm. The proposed algorithm is compared against a classical adaptive control and a sliding mode control algorithm

Keywords

control nonlinearities; control system analysis; manipulator dynamics; nonlinear control systems; observers; state feedback; tracking; adaptive control; disturbance estimation; dynamics; nonlinear systems; observer; proportional error feedback; robotic manipulator; sliding mode control; state feedback; system nonlinearities; telescopic robot arm; tracking control; Adaptive control; Control nonlinearities; Control systems; Error correction; Feedback; Nonlinear control systems; Nonlinear dynamical systems; Robot control; Sliding mode control; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1997. Proceedings of the 1997

Conference_Location

Albuquerque, NM

ISSN

0743-1619

Print_ISBN

0-7803-3832-4

Type

conf

DOI

10.1109/ACC.1997.611761

Filename

611761