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

Runxian Yang, Chenguang Yang, Mou Chen, Jing Na

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

1 Citation (Scopus)
197 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 languageEnglish
Title of host publication2016 22nd International Conference on Automation and Computing (ICAC 2016)
Subtitle of host publicationProceedings of a meeting held 7-8 September 2016, Colchester, United Kingdom
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages395-400
Number of pages6
ISBN (Electronic)9781862181328
ISBN (Print)9781509028771
DOIs
Publication statusPublished - Nov 2016

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