Robust control for robotic manipulators with non-smooth strategy

被引：4

作者：

Zhao, Dongya ^{[1
]}

Liang, Hao ^{[1
]}

Zhu, Quanmin ^{[1
,2
]}

机构：

[1] China Univ Petr, Coll Chem Engn, Qingdao, Peoples R China

[2] Univ W England, Bristol Inst Technol, Bristol BS16 1QY, Avon, England

来源：

INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL | 2015年 / 23卷 / 02期

关键词：

non-smooth control; robot control; robust control; practical stability;

D O I：

10.1504/IJMIC.2015.068874

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：112 / 120

页数：9

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