Variable Structure Model Following Control of Robot Manipulators with High-Gain Observer

A Variable Structure Observer for the Control of Robot Manipulators

This paper deals with the application of a variable structure observer developed for a class of nonlinear systems to solve the trajectory tracking problem for rigid robot manipulators. The analyzed approach to observer design proposes a simple design methodology for systems having completely observable linear parts and bounded nonlinearities and/or uncertainties. This observer is basically the ...

A decentralised variable structure model following controller for robot manipulators

A new algorithm for the trajectory control of robot manipulators by decentralised feedback is proposed, by dealing with the manipulator and joint actuator dynamic models in a model following framework. A variable structure control law is used with or without force measurement. The controller is simple, computationally easy, and robust to parametric uncertainties and payload variations. INTRODUC...

Robust fuzzy model-following control of robot manipulators

A robust fuzzy model-following control system is proposed for the control of robot manipulators. The application field to -link robot manipulators with torque disturbance and measurement noise is addressed. The control objective is obtained by tailoring a nominal adaptation process of parameters to implement appropriate function approximation and facilitating a self-tuning mechanism on the cons...

Output feedback adaptive control of robot manipulators using observer backstepping

Adaptive RBF network control for robot manipulators

TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...