Stochastic Modeling and Tracking Control for a Two-link Planar Rigid Robot Manipulator
نویسندگان
چکیده
In this paper, the problem of stochastic modeling and tracking control of a two-link planar rigid robot manipulator is considered. A stochastic Lagrangian model is constructed to describe the motion of the manipulator in random vibration environment. Based on the constructed model, a state feedback controller is designed such that the error system is 4-th moment exponentially practically stable. The simulation result demonstrates the efficiency of the proposed scheme.
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