Stochastic modeling and control of manipulator with elastic joint actuated by DC-motors

Nonlinear Robust Control of Unknown Robot Manipulator Systems With Actuators and Disturbances Using System Identification and Integral Sliding Mode Disturbance Observer

“…In this section, the proposed modeling of manipulator-actuator dynamics under the condition that the actuator system driving the manipulator is a DC motor is presented. The manipulator and actuator dynamics can be expressed as [25], [32] 𝐽 𝜃 + 𝐵 𝜃 + 𝜏 = 𝜏 , 𝜏 = 𝐾 𝐼,…”

“…Various studies on the compensation of the uncertainties in the manipulator dynamics and the disturbances arising from the unknown load torque have also been proposed by using intelligent control techniques to estimate the disturbances and uncertainties. In particular, neural network based methods are proposed in [20][21][22] and adaptive fuzzy control methods are studied in [23][24][25]. The combination of neural network and adaptive fuzzy control methods are also designed in [26], [27] and swarm optimization based method is proposed in [28].…”

“…In addition, because precise values of the inertial parameters of the links constituting the manipulator cannot be readily obtained, the resulting overall robot manipulator dynamics are complicated and difficult to obtain. Several studies ( [20][21][22][23][24][25][26][27][28][29]) have considered a few of these issues and are based on model-based control methods in which nominal manipulator dynamics are still required. Although the adaptive decentralized manipulator control methods proposed in [33], [34] do not require the manipulator dynamics for control, and the resulting residual dynamics are considered as uncertainties, the effects of the uncertainties are significant in this case; thus, the uncertainties cannot be sufficiently compensated by SMC and DOBs, as will be verified in the experimental results of this study.…”

“…Although existing control methods for robot manipulators ( [1][2][3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19]) do not include the actuator dynamics in the robot manipulator dynamics, they must be included during the controller design owing to their significant impact on the performance of the manipulator system. The actuator dynamics have been considered in the manipulator control in [20][21][22][23][24][25][26][27][28][29], which, however, require knowledge of the manipulator dynamics, actuator dynamics, frictional forces, and unknown parameters constituting the manipulator, which cannot be readily obtained. Accordingly, these issues cannot be resolved by using the existing manipulator control methods.…”

Modeling and Switching Tracking Control for a Class of Cart-Pendulum Systems Driven by DC Motor

“…In the following, two important properties of system (4) are given which hold for most of the usual Euler-Lagrange system ( [19], [21], [22]), and will be used in the later controller design and stability analysis.…”