Adaptive Robust Quadratic Stabilization Tracking Control for Robotic System with Uncertainties and External Disturbances
An adaptive robust quadratic stabilization tracking controller with hybrid scheme is proposed for robotic system with uncertainties and external disturbances. The hybrid scheme combines computed torque controller (CTC) with an adaptive robust compensator, in which variable structure control (VSC) an...
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2014/715250 |
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| _version_ | 1832562874998849536 |
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| author | Jinzhu Peng Yan Liu |
| author_facet | Jinzhu Peng Yan Liu |
| author_sort | Jinzhu Peng |
| collection | DOAJ |
| description | An adaptive robust quadratic stabilization tracking controller with hybrid scheme is proposed for robotic system with uncertainties and external disturbances. The hybrid scheme combines computed torque controller (CTC) with an adaptive robust compensator, in which variable structure control (VSC) and H∞ optimal control approaches are adopted. The uncertain robot manipulator is mainly controlled by CTC, the VSC is used to eliminate the effect of the uncertainties and ensure global stability, and H∞ approach is designed to achieve a certain tracking performance of closed-loop system. A quadratic stability approach, which allows separate treatment of parametric uncertainties, is used to reduce the conservatism of the conventional robust control approach. It can be also guaranteed that all signals in closed-loop system are bounded. The validity of the proposed control scheme is shown by computer simulation of a two-link robotic manipulator. |
| format | Article |
| id | doaj-art-66a8c1f1c7224c55a1827089995cc47c |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-66a8c1f1c7224c55a1827089995cc47c2025-02-03T01:21:29ZengWileyJournal of Control Science and Engineering1687-52491687-52572014-01-01201410.1155/2014/715250715250Adaptive Robust Quadratic Stabilization Tracking Control for Robotic System with Uncertainties and External DisturbancesJinzhu Peng0Yan Liu1School of Electrical Engineering, Zhengzhou University, No. 100 of Science Road, Zhengzhou, Henan 450001, ChinaLibrary of Zhengzhou University, Zhengzhou University, No. 100 of Science Road, Zhengzhou, Henan 450001, ChinaAn adaptive robust quadratic stabilization tracking controller with hybrid scheme is proposed for robotic system with uncertainties and external disturbances. The hybrid scheme combines computed torque controller (CTC) with an adaptive robust compensator, in which variable structure control (VSC) and H∞ optimal control approaches are adopted. The uncertain robot manipulator is mainly controlled by CTC, the VSC is used to eliminate the effect of the uncertainties and ensure global stability, and H∞ approach is designed to achieve a certain tracking performance of closed-loop system. A quadratic stability approach, which allows separate treatment of parametric uncertainties, is used to reduce the conservatism of the conventional robust control approach. It can be also guaranteed that all signals in closed-loop system are bounded. The validity of the proposed control scheme is shown by computer simulation of a two-link robotic manipulator.http://dx.doi.org/10.1155/2014/715250 |
| spellingShingle | Jinzhu Peng Yan Liu Adaptive Robust Quadratic Stabilization Tracking Control for Robotic System with Uncertainties and External Disturbances Journal of Control Science and Engineering |
| title | Adaptive Robust Quadratic Stabilization Tracking Control for Robotic System with Uncertainties and External Disturbances |
| title_full | Adaptive Robust Quadratic Stabilization Tracking Control for Robotic System with Uncertainties and External Disturbances |
| title_fullStr | Adaptive Robust Quadratic Stabilization Tracking Control for Robotic System with Uncertainties and External Disturbances |
| title_full_unstemmed | Adaptive Robust Quadratic Stabilization Tracking Control for Robotic System with Uncertainties and External Disturbances |
| title_short | Adaptive Robust Quadratic Stabilization Tracking Control for Robotic System with Uncertainties and External Disturbances |
| title_sort | adaptive robust quadratic stabilization tracking control for robotic system with uncertainties and external disturbances |
| url | http://dx.doi.org/10.1155/2014/715250 |
| work_keys_str_mv | AT jinzhupeng adaptiverobustquadraticstabilizationtrackingcontrolforroboticsystemwithuncertaintiesandexternaldisturbances AT yanliu adaptiverobustquadraticstabilizationtrackingcontrolforroboticsystemwithuncertaintiesandexternaldisturbances |