Robust tracking control of robot manipulators using only joint position measurements
type: Item
instance of: scholarly article
title: Robust tracking control of robot manipulators using only joint position measurements
zbMATH Open document ID: 1299.93194
author: Ancai Zhang
author: Min Wu
author: Jianlong Qiu
author: Xiangyong Chen
author: Jinhua She
author: Xuzhi Lai
published in: Mathematical Problems in Engineering
publication date: 2014-11-24T00:00:00Z
review text: Summary: This paper concerns the tracking control of a robot manipulator with unknown uncertainties and disturbances. It presents a new control method that uses only joint position measurements to design a tracking controller. The controller has two parts. One is based on a feedback linearization technique; it makes the nominal model of a manipulator asymptotically track a desired trajectory. The other is based on the idea of equivalent input disturbance (EID); it compensates for uncertainties and disturbances. Together they enable a robot manipulator to precisely track the desired trajectory. The new control algorithm is applied to a two-link robot manipulator, and simulation results demonstrate the validity of this method.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93D05
zbMATH DE Number: 6372607
MaRDI profile type: Publication
description: scientific article; zbMATH DE number 6372607