Robust composite nonlinear feedback control for uncertain robot manipulators
Yuan Jiang, Ke Lu, Chenglong Gong, Hao Liang
Abstract
On the basis of the classical computed torque control method, a new composite nonlinear feedback design method for robot manipulators with uncertainty is presented. The resulting controller consists of the composite nonlinear feedback control and robust control. The core is to use the robust control for online approximation of the system’s uncertainty as a compensation term for the composite nonlinear feedback controller. The design method of the new controller is given, and the convergence of the closed-loop system is proved. The simulation results show that the proposed scheme can make the uncertain robot system have strong robustness and anti-interference ability.
Topics & Concepts
Control theory (sociology)Robustness (evolution)Computer scienceNonlinear systemRobotRobust controlController (irrigation)Convergence (economics)Control engineeringControl (management)Artificial intelligenceEngineeringEconomic growthEconomicsQuantum mechanicsBiochemistryAgronomyBiologyGeneChemistryPhysicsAdaptive Control of Nonlinear SystemsControl and Dynamics of Mobile RobotsRobotic Path Planning Algorithms