Title :
Design of non-fragile controller for motion control of robot manipulator
Author :
Binoo, K.J. ; Sengupta, Sabyasachi ; Ray, G.
Author_Institution :
Dept. of Electr. Eng., Indian Inst. of Technol., Kharagpur, Kharagpur, India
Abstract :
This paper presents a design of PI type non-fragile controller for trajectory tracking and disturbance rejection of robot manipulators. The state equation of a robot manipulator is transformed to Canonical form and subsequently an error dynamic equation is obtained. Stability analysis and convergence of trajectory tracking error are investigated. Simulation results illustrating the performance of the proposed control algorithm for trajectary tracking of a robot manipulator with high precision tracking and improved convergence are presented.
Keywords :
control system synthesis; design engineering; manipulators; motion control; PI type nonfragile controller; canonical form; disturbance rejection; error dynamic equation; high precision tracking; motion control; nonfragile controller design; robot manipulator; stability analysis; state equation; trajectory tracking error; Equations; Gold; Manipulator dynamics; Trajectory; Uncertainty; Canonical form; Optimal control; Riccatti equation; end effector; error dynamics; uncertainties;
Conference_Titel :
Electrical and Computer Engineering (ICECE), 2014 International Conference on
Conference_Location :
Dhaka
Print_ISBN :
978-1-4799-4167-4
DOI :
10.1109/ICECE.2014.7026960
