ROBUST CONTROL FOR RIGID ROBOTIC MANIPULATORS USING NONLINEAR DISTURBANCE OBSERVER

Mou Chen, Bin Jiang, and Rong-Xin Cui

References

  1. [1] Z.H. Man and M. Palaniswami, A robust tracking control scheme for rigid robotic manipulators with uncertain dynamics, International Journal of Computers Electronics and Engineering, 21(3), 1995, 211–220.
  2. [2] C. Ilse and A.R. Jose, On the PID tracking control of robot manipulators, Systems and Control Letters, 42(1), 2001, 37–46.
  3. [3] R.J. Wai and P.C. Chen, Intelligent tracking control for robot manipulator including actuator dynamics via TSK-type fuzzy neural network, IEEE Transactions on Fuzzy Systems, 12(4), 2004, 552–559.
  4. [4] R.J. Wai and P.C. Chen, Robust neural-fuzzy-network control for robot manipulator including actuator dynamics, IEEE Transactions on Industrial Electronics, 53(4), 2006, 1328–1349.
  5. [5] C.Q. Huang, X.F. Peng, C. Jia, and J. Huang, Guaranteed robustness/performance adaptive control with limited torque for robot manipulators, Mechatronics, 18(10), 2008, 641–652.
  6. [6] Y.H. Kim, F.L. Lewis, and D.M. Dawson, Intelligent optimal control of robotic manipulators using neural networks, Automatica, 36(9), 2000, 1355–1364.
  7. [7] M. Spong, On the robust control of robot manipulators, IEEE Transactions on Automatic Control, 37(12), 1992, 1782–1786.
  8. [8] Z.J. Li, J.X. Li, and Y. Kang, Adaptive robust coordinated control of multiple mobile manipulators interacting with rigid environments, Automatica, 46(12), 2010, 2028–2034.
  9. [9] C.S. Chiu, K.Y. Lian, and T.C. Wu, Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators, Automatica, 40(12), 2004, 2111–2119.
  10. [10] F. Alonge, F.D. Ippolito, and F. Raimondi, An adaptive control law for robotic manipulator without velocity feedback, Control Engineering Practice, 11(9), 2003, 999–1005.
  11. [11] X.P. Cheng and R. Patel, Neural network based tracking control of a flexible macro–micro manipulator system, Neural Networks, 16(2), 2003, 271–286.
  12. [12] L. Cheng, Z.G. Hou, and M. Tan, Adaptive neural network tracking control for manipulators with uncertain kinematics, dynamics and actuator model, Automatica, 45(10), 2009, 2312–2318.
  13. [13] M.J. Er and Y. Gao, Robust adaptive control of robot manipulators using generalized fuzzy neural networks, IEEE Transactions on Industrial Electronics, 50(3), 2003, 620–628.
  14. [14] R.J. Wai, Tracking control based on neural network strategy for robot manipulator, Neurocomputing, 51(4), 2003, 425–445.
  15. [15] N. Kumar, V. Panwar, N. Sukavanam, S. Sharma, and J. Borm, Neural network-based nonlinear tracking control of kinematically redundant robot manipulators, Mathematical and Computer Modelling, 53(9), 2011, 1889–1901.
  16. [16] B.K. Yoo and W.C. Ham, Adaptive control of robot manipulator using fuzzy compensator, IEEE Transactions on Fuzzy Systems, 8(2), 2000, 186–198.
  17. [17] Z.G. Sun, N.C. Cheung, S.W. Zhao, and W.C. Gan, The application of disturbance observer-based sliding mode control for magnetic levitation systems, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 224(8), 2010, 1635–1644.
  18. [18] W.H. Chen, Disturbance observer based control for nonlinear systems, IEEE Transactions on Mechatronics, 9(4), 2004, 706–710.
  19. [19] X.K. Chen, C.Y. Su, and T. Fukuda, A nonlinear disturbance observer for multivariable systems and its application to magnetic bearing systems, IEEE Transactions on Control Systems Technology, 12(4), 2004, 569–577.
  20. [20] W.H. Chen, D.J. Ballance, P.J. Gawthrop, and J. O’Reilly, A nonlinear disturbance observer for robotic manipulators, IEEE Transactions on Industrial Electronics, 47(4), 2000, 932–938.
  21. [21] X.J. Wei and L. Guo, Composite disturbance-observer-based control and H∞ control for complex continuous models, International Journal of Robust and Nonlinear Control, 20(1), 2009, 106–118.
  22. [22] M. Chen, C.S. Jiang, B. Jiang, and Q.X. Wu, Sliding mode synchronization controller design with neural network for uncertain chaotic systems, Chaos, Solitons and Fractals, 39(4), 2009, 1856–1863.
  23. [23] S. Komada, N. Machii, and T. Hori, Control of redundant manipulators considering order of disturbance observer, IEEE Transactions on Industrial Electronics, 47(2), 2000, 413–420.
  24. [24] Z.J. Yang, Y. Fukushima, and P. Qin, Decentralized adaptive robust control of robot manipulators using disturbance observers, IEEE Transactions on Control System Technology, 20(5), 2012, 1357–1365.
  25. [25] Z.H. Man, A.P. Paplinski, and H.R. Wu, A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators, IEEE Transactions on Automatic Control, 39(12), 1994, 2464–2469.

Important Links:

Go Back