Design of Adaptive Switching Controller for Robotic Manipulators with Disturbance

Two adaptive switching control strategies are proposed for the trajectory tracking problem of robotic manipulator in this paper. The first scheme is designed for the supremum of the bounded disturbance for robot manipulator being known; while the supremum is not known, the second scheme is proposed....

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Published inMathematical problems in engineering Vol. 2016; no. 2016; pp. 1 - 9
Main Authors Lv, Jiaguo, Wang, Fang, Fei, Shumin, Yang, Zhen, Dong, Xishang
Format Journal Article
LanguageEnglish
Published Cairo, Egypt Hindawi Publishing Corporation 01.01.2016
Hindawi Limited
Subjects
Accuracy
Adaptive control
Control algorithms
Control systems design
Controllers
Disturbances
Fuzzy logic
Manipulators
Neural networks
Robot arms
Robot control
Robotics
Robots
Switching
Systems stability
Theorems
Tracking control
Tracking problem
Trajectory control
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Summary:Two adaptive switching control strategies are proposed for the trajectory tracking problem of robotic manipulator in this paper. The first scheme is designed for the supremum of the bounded disturbance for robot manipulator being known; while the supremum is not known, the second scheme is proposed. Each proposed scheme consists of an adaptive switching law and a PD controller. Based on the Lyapunov stability theorem, it is shown that two new schemes can guarantee tracking performance of the robotic manipulator and be adapted to the alternating unknown loads. Simulations for two-link robotic manipulator are carried out and show that the two schemes can avoid the overlarge input torque, and the feasibility and validity of the proposed control schemes are proved.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
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ISSN:1024-123X
1563-5147
DOI:10.1155/2016/7364216