کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413168 679764 2012 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Model-free robot joint position regulation and tracking with prescribed performance guarantees
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Model-free robot joint position regulation and tracking with prescribed performance guarantees
چکیده انگلیسی

The problem of robot joint position control with prescribed performance guarantees is considered; the control objective is the error evolution within prescribed performance bounds in both problems of regulation and tracking. The proposed controllers do not utilize either the robot dynamic model or any approximation structures and are composed by simple PID or PD controllers enhanced by a proportional term of a transformed error through a transformation related gain. Under a sufficient condition for the damping gain, the proposed controllers are able to guarantee (i) predefined minimum speed of convergence, maximum steady state error and overshoot concerning the position error and (ii) uniformly ultimate boundedness (UUB) of the velocity error. The use of the integral term reduces residual errors allowing the proof of asymptotic convergence of both velocity and position errors to zero for the regulation problem under constant disturbances. Performance is a priori guaranteed irrespective of the selection of the control gain values. Simulation results of a three dof spatial robotic manipulator and experimental results of one dof manipulator are given to confirm the theoretical findings.


► Joint position error evolution within a priori defined performance bounds.
► The control input does not utilize any robot model structures or its approximation.
► A proportional term of a transformed error enhances simple PID or PD controllers.
► Superior robustness to dynamic uncertainties, disturbances in regulation, tracking.
► Simulation and experimental results validate the theoretical findings.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 60, Issue 2, February 2012, Pages 214–226
نویسندگان
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