Disturbance Attenuation in Robot Control
نویسندگان
چکیده
In this paper, we propose a model based disturbance attenuator (MBDA) with the conventional PD controller for robot manipulators. It is a generalization of MBDA structure in [l] and is .applied to a robot manipulator which is nonlinear. This method does not require an accurate model of a robot manipulator and takes care of disturbances or modeling errors so that the plant output remains relatively unaffected by them. The output error due to the gravity or constant disturbance can be completely eliminated by this method in the same way as PID controllers. In addition, this can he easily implemented at a moderate computational cost. We apply this to a two-link robot manipulator and compare its performance with P D and PID controllers. Simulation results show that the proposed method is very effective in controlling robot manipulators. KeywordsRobot manipulators, MBDA, position control, Lyapunov function, stability.
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