A New Type of Robust Tracking SP-D Control for Manipulators

• Tanaka Natsuo

  JAIST

• Fujita Masayuki

  JAIST

書誌事項

タイトル別名

• New Type of Robust Tracking SP-D Contro

抄録

This paper is concerned with a new type of robust tracking control scheme for robot manipulators using SP-D (Saturated Proportional and Differential) feedback loops. In this paper, the control scheme based on quasi-natural potential is generalized from set-point regulation to trajectory tracking by exploiting an effective auxiliary variable which consists of a saturated positional error and a velocity error. Without any uncertainties in the manipulator model, the generalized tracking SP-D control scheme ensures globally asymptotic stability. In the presence of parametric model uncertainties, the tracking SP-D control scheme is improved in order to be robust against the uncertainties. The proposed robust tracking SP-D controller is able to guarantee globally uniformly ultimate boundedness theoretically. Experimental results on a two-link direct drive manipulator with the robust tracking controller are in agreement with the theoretical analysis and show the effectiveness of the control scheme.

収録刊行物

• 電気学会論文誌Ｃ（電子・情報・システム部門誌）

  電気学会論文誌Ｃ（電子・情報・システム部門誌） 117 (10), 1529-1534, 1997

  一般社団法人 電気学会

キーワード

• saturated proportional and differential control
• trajectory tracking
• robust control
• manipulator

詳細情報

• CRID: 1390282679584352384
• NII論文ID: 130006843570
• NII論文ID: 10002812006
• NII書誌ID: AN10065950
• DOI: 10.1541/ieejeiss1987.117.10_1529
• ISSN: 13488155
• ISSN: 03854221
• NDL書誌ID: 4303606
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4303606
• Web Site: https://www.jstage.jst.go.jp/article/ieejeiss1987/117/10/117_10_1529/_pdf
• 本文言語コード: en
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可