Model-based distributed cooperative control of a robotic manipulator

Soumya, S.; Guruprasad, K. R.

doi:10.1109/wiecon-ece.2015.7443926

Cited by 2 publications

(1 citation statement)

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“…Hence, prior knowledge of the dynamic model should be utilized properly for model-based controller design rather than totally discarded, as presented in literature. 34,35 M 0 ðqÞ is a positive definite symmetric matrix, which guarantees its invertibility. Let…”

Section: Problem Formulationmentioning

confidence: 99%

Finite-time tracking control for uncertain robotic manipulators using backstepping method and novel extended state observer

Chen

Zhang

et al. 2019

International Journal of Advanced Robotic Systems

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This article considers finite-time trajectory tracking control problem for robotic manipulators with parameter uncertainties and external disturbances. A finite-time controller that achieves high precision and strong robustness is proposed without the requirement of the exact dynamic model. First, a novel finite-time model-assisted extended state observer is designed to compensate the system uncertainties with complex and uncertain dynamics. Then, a composite finite-time controller is developed for trajectory tracking control with the help of finite-time model-assisted extended state observer. Compared to the classic extended state observer, it is proved that the estimation error of finite-time modelassisted extended state observer can be stabilized in finite time. Meanwhile, the finite-time convergence of the closed-loop system with the proposed controller can also be proved through Lyapunov's stability theory. A variable structure term is employed to compensate the estimation errors of finite-time model-assisted extended state observer. The validity of the control scheme is demonstrated by simulations and experiments.

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Section: Problem Formulationmentioning

confidence: 99%