Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
4955340 | Computers & Electrical Engineering | 2016 | 14 Pages |
Abstract
This paper presents a novel robust control for electrically driven robot manipulators by designing an adaptive uncertainty estimator based on the first order Taylor series. The estimator is simple and model-free in a decentralized structure. The uncertainty is then efficiently compensated in the control system. The controller does not require the bounding functions as an advantage over the conventional robust controller. Therefore, it is simpler, less computational, and more efficient. It is verified by stability analysis and its effectiveness is shown through comparisons with a terminal sliding mode control approach and a Legendre polynomials uncertainty bound estimator simulated on a SCARA robot driven by permanent magnet dc motors.
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Authors
Seyed Mohammad Ahmadi, Mohammad Mehdi Fateh,