Intelligent hybrid control strategy for trajectory tracking of robot manipulators

Authors:
Yi Zuo;Yaonan Wang;Lihong Huang;Chunsheng Li
Affiliations:
College of Electric and Information Technology, Hunan University, Changsha, Hunan, China;College of Electric and Information Technology, Hunan University, Changsha, Hunan, China;College of Mathematics and Econometrics, Hunan University, Changsha, Hunan, China;College of Electric and Information Technology, Hunan University, Changsha, Hunan, China and Department of Mathematics, Guangdong Commercial College, Guangzhou, Guangdong, China
Venue:
Journal of Control Science and Engineering
Year:
2008

Citing 12
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Abstract

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.