Non-singular Terminal Sliding Mode Control of Robot Manipulators with $$H_\infty $$ Trajectory Tracking Performance

Ruchika, .; Kumar, Naveen; Dinanath,

doi:10.1007/s13369-019-04049-5

Cited by 4 publications

(1 citation statement)

References 28 publications

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“… H ∞ control mainly deals with non-structural uncertainties. 17 But uncertainties of cooperative robots include structural uncertainties and unstructural uncertainties, they all should be considered in process of trajectory tracking. Chen et al’s 18 group proposed a novel hierarchical control framework of gait transition based on flexible gait planning (FGP) and gait feedback regulator (GFR) with behavioral rules for six-legged wheeled robot (BIT-6NAZA), which can modify effects of dynamic unstructured uncertainties.…”

Section: Introductionmentioning

confidence: 99%

Practical robust control design and experimental validation of modular jointed cooperative robots with inequality constraints

Zhen

Liu

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, a new practical dynamic robust control approach for cooperative robots with inequality constraints is proposed. The controller can compensate errors caused by uncertainties and external disturbances. The inequality constraint is eliminated by choosing proper boundary function and using state transformation. In this way, the controlled output is guaranteed within the desired range. The Lyapunov minimax method is used to prove that the controller can guarantee the uniform boundedness and uniform ultimate boundedness and stability of the robot system. Experimental verifications are carried out on a 2-DOF cooperative robot experimental platform with joint modules. The experimental platform is equipped with a rapid prototyping controller system (CSPACE). Numerical simulation and experimental verification results show that the proposed practical robust controller has significant advantages of trajectory tracking performance and security for cooperative robots with inequality constraints.

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