Robust control for robot manipulators with time-varying uncertainty based on bounded observer in discrete time

Runxian Yang; Chenguang Yang; Mou Chen; Jing Na

doi:10.1109/IConAC.2016.7604950

Robust control for robot manipulators with time-varying uncertainty based on bounded observer in discrete time

Runxian Yang, Chenguang Yang, Mou Chen, Jing Na

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

1 Citation (Scopus)

364 Downloads (Pure)

Abstract

In this paper, we have developed a disturbance observer (DOB) based on robust control method for a class of nonlinear robot manipulators with time-varying uncertainty. To facilitate digital implementation of the controller, the robot system is formulated in discrete time. The DOB controller is design to compensate for uncertainty and disturbance by bounding both all states and observed uncertain function in a control region. The robust stability of closed-loop robot system can be well guaranteed by applying Schur complement theory and Lyapunov analysis, such that parameters of the DOB controller are derived using linear matrix inequalities (LMIs) theory. Simulation studies have been performed to test and verify the proposed control scheme, which results in supreme robust control and satisfied trajectory tracking performance for robot manipulators with time-varying uncertainty.

Original language	English
Title of host publication	2016 22nd International Conference on Automation and Computing (ICAC 2016)
Subtitle of host publication	Proceedings of a meeting held 7-8 September 2016, Colchester, United Kingdom
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	395-400
Number of pages	6
ISBN (Electronic)	9781862181328
ISBN (Print)	9781509028771
DOIs	https://doi.org/10.1109/IConAC.2016.7604950
Publication status	Published - Nov 2016

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Yang, R., Yang, C., Chen, M., & Na, J. (2016). Robust control for robot manipulators with time-varying uncertainty based on bounded observer in discrete time. In 2016 22nd International Conference on Automation and Computing (ICAC 2016): Proceedings of a meeting held 7-8 September 2016, Colchester, United Kingdom (pp. 395-400). Article 7604950 Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/IConAC.2016.7604950

Yang, Runxian ; Yang, Chenguang ; Chen, Mou et al. / Robust control for robot manipulators with time-varying uncertainty based on bounded observer in discrete time. 2016 22nd International Conference on Automation and Computing (ICAC 2016): Proceedings of a meeting held 7-8 September 2016, Colchester, United Kingdom. Institute of Electrical and Electronics Engineers (IEEE), 2016. pp. 395-400

@inproceedings{67a1b5cbf0754d919303b104de44e260,

title = "Robust control for robot manipulators with time-varying uncertainty based on bounded observer in discrete time",

abstract = "In this paper, we have developed a disturbance observer (DOB) based on robust control method for a class of nonlinear robot manipulators with time-varying uncertainty. To facilitate digital implementation of the controller, the robot system is formulated in discrete time. The DOB controller is design to compensate for uncertainty and disturbance by bounding both all states and observed uncertain function in a control region. The robust stability of closed-loop robot system can be well guaranteed by applying Schur complement theory and Lyapunov analysis, such that parameters of the DOB controller are derived using linear matrix inequalities (LMIs) theory. Simulation studies have been performed to test and verify the proposed control scheme, which results in supreme robust control and satisfied trajectory tracking performance for robot manipulators with time-varying uncertainty.",

author = "Runxian Yang and Chenguang Yang and Mou Chen and Jing Na",

year = "2016",

month = nov,

doi = "10.1109/IConAC.2016.7604950",

language = "English",

isbn = "9781509028771",

pages = "395--400",

booktitle = "2016 22nd International Conference on Automation and Computing (ICAC 2016)",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

}

Yang, R, Yang, C, Chen, M & Na, J 2016, Robust control for robot manipulators with time-varying uncertainty based on bounded observer in discrete time. in 2016 22nd International Conference on Automation and Computing (ICAC 2016): Proceedings of a meeting held 7-8 September 2016, Colchester, United Kingdom., 7604950, Institute of Electrical and Electronics Engineers (IEEE), pp. 395-400. https://doi.org/10.1109/IConAC.2016.7604950

Robust control for robot manipulators with time-varying uncertainty based on bounded observer in discrete time. / Yang, Runxian; Yang, Chenguang; Chen, Mou et al.
2016 22nd International Conference on Automation and Computing (ICAC 2016): Proceedings of a meeting held 7-8 September 2016, Colchester, United Kingdom. Institute of Electrical and Electronics Engineers (IEEE), 2016. p. 395-400 7604950.

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

TY - GEN

T1 - Robust control for robot manipulators with time-varying uncertainty based on bounded observer in discrete time

AU - Yang, Runxian

AU - Yang, Chenguang

AU - Chen, Mou

AU - Na, Jing

PY - 2016/11

Y1 - 2016/11

N2 - In this paper, we have developed a disturbance observer (DOB) based on robust control method for a class of nonlinear robot manipulators with time-varying uncertainty. To facilitate digital implementation of the controller, the robot system is formulated in discrete time. The DOB controller is design to compensate for uncertainty and disturbance by bounding both all states and observed uncertain function in a control region. The robust stability of closed-loop robot system can be well guaranteed by applying Schur complement theory and Lyapunov analysis, such that parameters of the DOB controller are derived using linear matrix inequalities (LMIs) theory. Simulation studies have been performed to test and verify the proposed control scheme, which results in supreme robust control and satisfied trajectory tracking performance for robot manipulators with time-varying uncertainty.

AB - In this paper, we have developed a disturbance observer (DOB) based on robust control method for a class of nonlinear robot manipulators with time-varying uncertainty. To facilitate digital implementation of the controller, the robot system is formulated in discrete time. The DOB controller is design to compensate for uncertainty and disturbance by bounding both all states and observed uncertain function in a control region. The robust stability of closed-loop robot system can be well guaranteed by applying Schur complement theory and Lyapunov analysis, such that parameters of the DOB controller are derived using linear matrix inequalities (LMIs) theory. Simulation studies have been performed to test and verify the proposed control scheme, which results in supreme robust control and satisfied trajectory tracking performance for robot manipulators with time-varying uncertainty.

U2 - 10.1109/IConAC.2016.7604950

DO - 10.1109/IConAC.2016.7604950

M3 - Conference Contribution (Conference Proceeding)

SN - 9781509028771

SP - 395

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BT - 2016 22nd International Conference on Automation and Computing (ICAC 2016)

PB - Institute of Electrical and Electronics Engineers (IEEE)

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Yang R, Yang C, Chen M, Na J. Robust control for robot manipulators with time-varying uncertainty based on bounded observer in discrete time. In 2016 22nd International Conference on Automation and Computing (ICAC 2016): Proceedings of a meeting held 7-8 September 2016, Colchester, United Kingdom. Institute of Electrical and Electronics Engineers (IEEE). 2016. p. 395-400. 7604950 Epub 2016 Oct 24. doi: 10.1109/IConAC.2016.7604950

Robust control for robot manipulators with time-varying uncertainty based on bounded observer in discrete time

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