Upper bounding estimation for robustness to the parameter uncertainty in trajectory control of robot arm

BURKAN R., Uzmay I.

ROBOTICS AND AUTONOMOUS SYSTEMS, cilt.45, sa.2, ss.99-110, 2003 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 45 Sayı: 2
  • Basım Tarihi: 2003
  • Doi Numarası: 10.1016/j.robot.2003.07.001
  • Dergi Adı: ROBOTICS AND AUTONOMOUS SYSTEMS
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.99-110
  • Anahtar Kelimeler: robot trajectory, robust control, asymptotic stability, parametric uncertainty, bound estimation, ADAPTIVE-CONTROL, MANIPULATORS
  • Erciyes Üniversitesi Adresli: Evet

Özet

In this paper, a new robust control law is presented for robot manipulators subjected to uncertainties. Stability of the system is established by the Lyapunov function, and a control law that guaranteed the system stability is derived as a result of analytical solution. Apart from previous studies, uncertainty bound is determined with the estimation law to control the system properly and the estimation law is written as an exponential function of robot kinematics, inertia parameters and tracking error. Due to asymptotic stability and increasing convergence rate, tracking performance for the case of transient and steady-state are increased. (C) 2003 Elsevier B.V. All rights reserved.