Tracking Control for Robot Manipulators With Kinematic and Dynamic Uncertainty

Global finite-time tracking control for rigid manipulators based on adding a power integrator

“…In [7,8], sliding mode control techniques were applied to control of manipulators. Most of the existing results on control of rigid manipulators achieve asymptotic stability results for the closed-loop systems [1][2][3][4][5][6][7][8]. In other words, the trajectories of the closed-loop systems converge to the desired trajectories as time goes to infinity.…”

“…To solve the control problem for manipulators with parameter uncertainties, adaptive control laws were designed in [4][5][6]. In [7,8], sliding mode control techniques were applied to control of manipulators.…”

“…Manipulator control is one of the fundamental tasks in control applications and it has been extensively studied based on various control methods [1][2][3][4][5][6][7][8].To achieve the control goal for manipulators, PD [1,2] control laws and PID control laws [3] were proposed. To solve the control problem for manipulators with parameter uncertainties, adaptive control laws were designed in [4][5][6].…”

A unified design method for adaptive visual tracking control of robots with eye-in-hand/fixed camera configuration

“…Uncertainties of some of the physical parameters in the Jacobian matrix were considered in Kelly (1996) and Zergeroglu, Dawson, deQueiroz, and Nagarkatti (1999), while the Jacobian-fixedapproximation-based approaches in Cheah (2008), Cheah, Hirano, Kawamura, and Arimoto (2004, Cheah, Kawamura, and Arimoto (1999), Cheah, Kawamura, Arimoto, and Lee (2001), Cheah, Hirano, Kawamura, and Arimoto (2003, and Liu and Cheah (2005) systematically investigated the task-space set-point control problem with uncertainty in the entire Jacobian, where uncertainties of all physical parameters in the Jacobian can be considered. To remove constraints on the bound of approximate Jacobian in the Jacobian-fixed-approximation-based approaches, more and more attention has been paid to the Jacobian-adaptive-estimation-based uncalibrated visual servoing schemes (Bishop & Spong, 1999;Braganza, Dixon, Dawson, & Xian, 2008;Cheah, Liu, & Slotine, 2006a,b;Dixon, 2007;Dixon, Dawson, Zergeroglu, & Behal, 2001;Galicki, 2008;Liang, Huang, Wang, & Zeng, 2010;Liu, Cheah, & Slotine, 2006;Zergeroglu, Dawson, Queiroz, & Behal, 2001), where adaptive laws are designed to estimate some or all of unknown physical parameters in the Jacobian matrix.…”

Multiple task-space robot control: Sense locally, act globally

“…In [10], an adaptive controller was proposed for free-floating space manipulator with uncertainties in both kinematics and dynamics. To avoid singularities associated with the Euler angles representation, adaptive tracking controller based on unit quaternion representation was developed for robot manipulators with uncertainty in the kinematic and dynamic models [11].…”