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Robust control for robotic manipulators with non-smooth strategy

Zhao, Dongya; Liang, Hao; Zhu, Quanmin

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Authors

Dongya Zhao

Hao Liang

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Quan Zhu Quan.Zhu@uwe.ac.uk
Professor in Control Systems



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

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