Synchronising H∞ Robust Distributed Controller for Multi-Robotic Manipulators
نویسندگان
چکیده
منابع مشابه
Auto-tuning PID Controller for Robotic Manipulators
This paper suggests an auto-tuning method of PID trajectory tracking controller for robotic manipulators. In general, the PID trajectory tracking controller for mechanical systems shows the performance limitation. Since the control system including performance limitation can not have equilibrium points, we define newly the quasi-equilibrium region as an alternative for equilibrium point. Also, ...
متن کاملRobust control of robot manipulators using hybrid H∞/adaptive controller
A robust hybrid control method for robot manipulators is proposed which integrates an Ha controller and an adaptive controller. The Ha controller is used to minimize the effect of parameter uncertainties of the robot model on the tracking performance, while the adaptive controller continuously adjusts the model parameters to reduce the model error. Simulations show that disturbances generated f...
متن کاملRobust neural control for robotic manipulators
A robust neural control is designed for nonlinear dynamic systems. The objective of this work is to control the motion of the nonlinear system without any knowledge of its dynamics. This method of control requires only the measurement of the system state and its inputs. A Lyapunov function is proposed to ensure the stability of the nonlinear system equipped with the robust neural control. The o...
متن کاملA robust adaptive controller for robot manipulators
In the present paper we propose a globally convergent adaptive control scheme for robot motion control with the following features: First, the adaptation law possesses enhanced robustness with respect to noisy velocity measurements. Secondly, the controllex does not require the inclusion of high gain loops that may excite the unmodeled dynamics and amplify the noise level. Thirdly, we derive fo...
متن کاملNonlinear Adaptive H∞ Control for Robotic Manipulators
A new class of adaptive nonlinear H∞ control for robotic manipulators is proposed in this manuscript. Those control strategies are derived as solutions of particular nonlinear H∞ control problems, where both disturbances and estimation errors of unknown system parameters are regarded as exogenous disturbances to the processes, and the 2 gains from those uncertainties to generalized outputs are ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2020
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2020.12.2709