Dual-Mode Synchronization Predictive Control of Robotic Manipulator

Predictive Control of Flexible Joint Robotic Manipulator

A new formulation of a trajectory tracking controller for flexible joint robotic manipulator is proposed. The controller is based on the continuous time nonlinear predictive control approach wherein predicted errors in the actual response and the desired response and current control expenditure is minimized point-wise to obtain an optimal, nonlinear feedback control law. It is shown that the we...

Generalized predictive control of a robotic manipulator with hydraulic actuators

This paper presents some aspects of the behavior of hydraulically actuated heavy duty manipulators. This category of manipulators is used extensively in large resource based industries and any improvement in efficiency may result in major financial benefits. In this paper an adaptive control algorithm is used for a two rigid link manipulator driven by hydraulic actuators. The dynamic model of t...

Observer-based sliding mode control of a robotic manipulator

This paper presents a new approach for the design of variable structure control (VSC) of nonlinear systems. The approach is based on estimation of joint acceleration signals with introduction of load estimation with the asymptotic observer. The control system is insensitive to parameter variations for a chosen switching hypersurface in conditions when it is reached by the dynamic motion with th...

Experimental dual-mode control of a flexible robotic arm

High Performance Control of Stewart Platform Manipulator Using Sliding Mode Control with Synchronization Error

This paper presents the design and analysis of a high performance robust controller for the Stewart platform manipulator. The controller is a variable structure controller that uses a linear sliding surface which is designed to drive both tracking and synchronization errors to zero. In the controller the model based equivalent control part of the sliding mode controller is computed in task spac...