A Robust Tracking Controller for Electrically Driven Robot Manipulators: Stability Analysis and Experiment

Mohamadreza Homayounzade; Mehdi Keshmiri; Mostafa Ghobadi

doi:10.1007/s11633-014-0850-1

A Robust Tracking Controller for Electrically Driven Robot Manipulators: Stability Analysis and Experiment

doi: 10.1007/s11633-014-0850-1

Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan, Iran;
Department of Mechanical Engineering, University at Buffalo SUNY, New York, USA

详细信息

作者简介:
Mehdi Keshmiri received his B. Sc. and M. Sc. degrees in mechanical engineering from Sharif University of Technology, Tehran, Iran in 1986 and 1989, respectively. He received his Ph.D. degree in mechanical engineering (space dynamics) from McGill University, Montreal, Canada. He is currently an associate professor in the Department of Mechanical Engineering of Isfahan University of Technology (IUT), Isfahan, Iran. He joined IUT as soon as he finished his Ph.D. in 1995. He has presented and published more than 100 papers in international conferences and journals and supervised more than 60 Ph. D. and master students. His research interests include system dynamics, control systems and dynamics and control of robotic systems. E-mail: mehdik@cc.iut.ac.ir

A Robust Tracking Controller for Electrically Driven Robot Manipulators: Stability Analysis and Experiment

Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan, Iran;
Department of Mechanical Engineering, University at Buffalo SUNY, New York, USA

摘要: In this paper, a robust controller for electrically driven robotic systems is developed. The controller is designed in a backstepping manner. The main features of the controller are: 1) Control strategy is developed at the voltage level and can deal with both mechanical and electrical uncertainties. 2) The proposed control law removes the restriction of previous robust methods on the upper bound of system uncertainties. 3) It also benefits from global asymptotic stability in the Lyapunov sense. It is worth to mention that the proposed controller can be utilized for constrained and nonconstrained robotic systems. The effectiveness of the proposed controller is verified by simulations for a two link robot manipulator and a four-bar linkage. In addition to simulation results, experimental results on a two link serial manipulator are included to demonstrate the performance of the proposed controller in tracking a given trajectory.
- Electrically driven robots /
- Lyapunov stability /
- parametric uncertainty /
- robust control /
- uncertain actuator dynamics
Abstract: In this paper, a robust controller for electrically driven robotic systems is developed. The controller is designed in a backstepping manner. The main features of the controller are: 1) Control strategy is developed at the voltage level and can deal with both mechanical and electrical uncertainties. 2) The proposed control law removes the restriction of previous robust methods on the upper bound of system uncertainties. 3) It also benefits from global asymptotic stability in the Lyapunov sense. It is worth to mention that the proposed controller can be utilized for constrained and nonconstrained robotic systems. The effectiveness of the proposed controller is verified by simulations for a two link robot manipulator and a four-bar linkage. In addition to simulation results, experimental results on a two link serial manipulator are included to demonstrate the performance of the proposed controller in tracking a given trajectory.
- Electrically driven robots /
- Lyapunov stability /
- parametric uncertainty /
- robust control /
- uncertain actuator dynamics

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A Robust Tracking Controller for Electrically Driven Robot Manipulators: Stability Analysis and Experiment

doi: 10.1007/s11633-014-0850-1

A Robust Tracking Controller for Electrically Driven Robot Manipulators: Stability Analysis and Experiment

计量

A Robust Tracking Controller for Electrically Driven Robot Manipulators: Stability Analysis and Experiment

doi: 10.1007/s11633-014-0850-1

Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan, Iran;

Department of Mechanical Engineering, University at Buffalo SUNY, New York, USA

English Abstract

A Robust Tracking Controller for Electrically Driven Robot Manipulators: Stability Analysis and Experiment

Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan, Iran;

Department of Mechanical Engineering, University at Buffalo SUNY, New York, USA

全文HTML

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A Robust Tracking Controller for Electrically Driven Robot Manipulators: Stability Analysis and Experiment

doi: 10.1007/s11633-014-0850-1

A Robust Tracking Controller for Electrically Driven Robot Manipulators: Stability Analysis and Experiment

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A Robust Tracking Controller for Electrically Driven Robot Manipulators: Stability Analysis and Experiment

doi: 10.1007/s11633-014-0850-1

Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan, Iran; Department of Mechanical Engineering, University at Buffalo SUNY, New York, USA

English Abstract

A Robust Tracking Controller for Electrically Driven Robot Manipulators: Stability Analysis and Experiment

Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan, Iran; Department of Mechanical Engineering, University at Buffalo SUNY, New York, USA

全文HTML

目录

Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan, Iran;

Department of Mechanical Engineering, University at Buffalo SUNY, New York, USA

Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan, Iran;

Department of Mechanical Engineering, University at Buffalo SUNY, New York, USA