Robust control for robotic manipulators with non-smooth strategy

Zhao, Dongya; Liang, Hao; Zhu, Quanmin

Abstract

Copyright © 2015 Inderscience Enterprises Ltd. In this paper, a novel non-smooth robust control approach is presented for robotic manipulators. By using decimal power rule in Lyapunov redesign methods, the conventional robust control for robot is improved. Our approach can achieve higher control precision with faster convergence speed. The formulations of estimating residual set and settling time have been initially established. The practical stability property is analysed. An illustrative example is bench tested to validate the effectiveness of the proposed approach.

Citation

Zhao, D., Liang, H., & Zhu, Q. (2015). Robust control for robotic manipulators with non-smooth strategy. International Journal of Modelling, Identification and Control, 23(2), 112-120. https://doi.org/10.1504/IJMIC.2015.068874

• Journal Article Type: Article
• Publication Date: Jan 1, 2015
• Deposit Date: Jun 9, 2015
• Publicly Available Date: Aug 2, 2016
• Journal: International Journal of Modelling, Identification and Control
• Print ISSN: 1746-6172
• Electronic ISSN: 1746-6180
• Publisher: Inderscience
• Peer Reviewed: Peer Reviewed
• Volume: 23
• Issue: 2
• Pages: 112-120
• DOI: https://doi.org/10.1504/IJMIC.2015.068874
• Keywords: robotic manipulators, non-smooth strategy
• Public URL: https://uwe-repository.worktribe.com/output/845482
• Publisher URL: http://dx.doi.org/10.1504/IJMIC.2015.068874