Proportional Retarded Control of Robot Manipulators

Abstract

In the present contribution, a methodology to solve the tracking control problem of robot manipulators through the use of a Proportional Retarded plus Gravity (PR+G) compensation scheme is presented. The main advantage of the proposal is to avoid the necessity of velocity measurements or their estimation, which is commonly used in most control schemes, such as the proportional derivative-type controllers or the computed torque control. The design of the PR+G controller is addressed via σ-stability analysis and its performance is tested in an experimental platform that consists of 2 degrees of the freedom robot manipulator. The proposed controller is compared with a classic proportional derivative plus gravity compensation scheme. The results are analyzed from a frequency perspective and measured by a quadratic error index. INDEX TERMS Manipulator robot, time-delay controller, trajectory tracking.

Barrier Function-Based Integral Sliding Mode Controller Design for a Single-Link Rotary Flexible Joint Robot

“…Trajectory tracking results and reducing undesirable vibrations witnessed the effectiveness of the developed control strategy in the studies of Alam et al [6] and Duong et al [7]. SMC techniques for the tracking trajectory problem of an FJR arm and the altitude of quadrotor Unmanned Aerial Vehicle (UAV) with feedback linearization or disturbance observer have been proposed in the literature [8][9][10]. Performance comparison bertween two controllers is made in terms of dynamic behavior and robustness capability.…”

Contribuciones al estudio de sistemas lineales con retardos: el enfoque de funcionales de tipo completo

“…Algunos ejemplos son la tele operación (Castaños et al, 2018;, el consenso a través de redes de comunicacion (Ramírez and Sipahi, 2019;Nuño and Ortega, 2018;Gonzaléz et al, 2020), la deshidratación de alimentos (Santos-Sánchez et al, 2021), los sistemas de población y epidemias (Castaños and Mondié, 2021), los tiempos de medición de va-riables de salida y de cálculo de leyes de control, entre muchos otros. Si bien los retardos producen generalmente un deterioro del desempeño de los sistemas, también sustituyen de manera exitosa acciones derivativas en las leyes de control debido a sus propiedades de filtraje (Ramírez et al, 2021;Hernández-Díez et al, 2019;Ochoa-Ortega et al, 2019;Ramírez-Neria et al, 2019;Ramírez et al, 2016).…”