A Tracking Control Design Based on Time-Varying Disturbance Attenuation for a 6-DOF Rigid Manipulator

Author

Zakeri, Vahid ; Deghat, Mohammad ; Eghtesad, Mohammad

Author_Institution

Shiraz Univ., Shiraz

fYear

2007

fDate

5-8 Aug. 2007

Firstpage

2287

Lastpage

2292

Abstract

In this paper a tracking control strategy has been proposed using Hamilton-Jacobi inequality to compensate for unknown disturbances applied to robot manipulators. The method can effectively attenuate constant or time-varying disturbances such as random signals affecting the input torque of robot systems. Simulations have been accomplished on a 6-DOF (Degree of Freedom) manipulator. The results show that the proposed controller yields a superior performance such as smaller control effort and better noise attenuation behavior, compared to the other methods.

Keywords

control system synthesis; manipulator dynamics; time-varying systems; torque; 6-DOF rigid robot manipulator; Hamilton-Jacobi inequality; input torque; noise attenuation behavior; random signals; time-varying disturbance attenuation; tracking control design; Adaptive control; Attenuation; Control design; Manipulator dynamics; Nonlinear systems; Optimal control; Robot control; Robust control; Symmetric matrices; Uncertainty; Disturbance Attenuation; Hamilton-Jacobi inequality; Rigid Manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2007. ICMA 2007. International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-0828-3

Electronic_ISBN

978-1-4244-0828-3

Type

conf

DOI

10.1109/ICMA.2007.4303909

Filename

4303909