Robust Control of Electrical Manipulators by Reducing the Effects of Uncertainties
نویسنده
چکیده
Abstract: This paper presents a novel robust voltage-based control approach for tracking control of electrical manipulators by reducing the effects of uncertainties. The proposed control law is simple, fast response and robust with acceptable tracking error and without chattering problem. This approach is superior to torque-based control approaches due to considering the role of actuators. The stability of control system is analyzed. Simulations are presented to confirm the performance of control approaches applied on a two-link manipulator driven by permanent magnet dc motors.
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