Robust Tracking Control of Robot Manipulators Using Only Joint Position Measurements

Ancai Zhang, Jinhua She, Xuzhi Lai, Min Wu, Jianlong Qiu and Xiangyong Chen

Mathematical Problems in Engineering, 2013, vol. 2013, 1-9

Abstract:

This paper concerns the tracking control of a robot manipulator with unknown uncertainties and disturbances. It presents a new control method that uses only joint position measurements to design a tracking controller. The controller has two parts. One is based on a feedback linearization technique; it makes the nominal model of a manipulator asymptotically track a desired trajectory. The other is based on the idea of equivalent input disturbance (EID); it compensates for uncertainties and disturbances. Together they enable a robot manipulator to precisely track the desired trajectory. The new control algorithm is applied to a two-link robot manipulator, and simulation results demonstrate the validity of this method.

Date: 2013
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:719474

DOI: 10.1155/2013/719474

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