Intelligent hybrid control strategy for trajectory tracking of robot manipulators
type: Item
instance of: scholarly article
title: Intelligent hybrid control strategy for trajectory tracking of robot manipulators
zbMATH Open document ID: 1229.93122
DOI: 10.1155/2008/520591
author: Yi Zuo
author: Yaonan Wang
author: Chunsheng Li
author: Lihong Huang
published in: Journal of Control Science and Engineering
publication date: 2010-07-22T00:00:00Z
review text: Summary: We address the problem of robust tracking control using a PD-plus-feedforward controller and an intelligent adaptive robust compensator for a rigid robotic manipulator with uncertain dynamics and external disturbances. A key feature of this scheme is that soft computer methods are used to learn the upper bound of system uncertainties and adjust the width of the boundary layer base. In this way, the prior knowledge of the upper bound of the system uncertainties does need not to be required. Moreover, chattering can be effectively eliminated, and asymptotic error convergence can be guaranteed. Numerical simulations and experiments of two-DOF rigid robots are presented to show effectiveness of the proposed scheme.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 68T05
Mathematics Subject Classification ID: 93B51
zbMATH DE Number: 5759202
Wikidata QID: Q58645470
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2008/520591
OpenAlex ID: W1995759361
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description: scientific article; zbMATH DE number 5759202