2020/08/15 by Amir Aminzadeh Ghavifekr, Ghavifekr, Amir. A., Saeed Pezeshki +3
Engineering · #Adaptive Control of Nonlinear Systems #Control and Dynamics of Mobile Robots #Extremum Seeking Control Systems #FOS: Electrical engineering #Iterative Learning Control Systems #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2008.06676
openalex publication_date 2020/08/15 · openalex created_date 2020/08/21 · openalex updated_date 2026/07/28
In this paper, we consider the tracking control problem for robot\nmanipulators which are affected by constant bounded disturbances. Three control\nschemes are applied for the problem, which composed of integral action and\ntracking controllers. The goal is improving the accuracy of tracking procedure\nfor a robot manipulator to track a specified reference signal in the presence\nof constant bounded disturbances. Inverse dynamics controller, improved\nLyapunov-based controller with integral action and discontinuous Lyapunov-based\ncontroller are three schemes that are evaluated in this paper. Third one is a\nnovel controller that achieves trajectory following without requiring exact\nknowledge of the nonlinear dynamics. Based on the disturbance rejection scheme,\ntracking controllers are constructed which are asymptotically stabilizing in\nthe sense of Lyapunov. Furthermore the closed loop system has strong\ndisturbance rejection property. It is shown that how under proper assumptions,\nthe proposed schemes succeed in achieving disturbance rejection at the input of\na nonlinear system. Computer simulation results given for a two degree of\nfreedom manipulator with a large payload and fast maneuver, demonstrate that\naccurate trajectory tracking can be achieved by using the proposed controllers.\n