A mixed optimal/robust control for robot manipulators

Research output: Contribution to journalArticle

Abstract

A mixed optimal/robust control is proposed in this paper for the tracking of rigid robotic systems under parametric uncertainties and external perturbations. The design objective is that under a prescribed disturbance norm level, an optimal control system is to be designed as well as a robust control to overcome the effect of uncertainties. The optimal control is based on the solution of a non-linear Ricatti equation, which, by virtue of the skew symmetry property of manipulators and an adequate choice of state variables, becomes an algebraic equation that is easy to solve. The design of the robust control of the uncertain system is then investigated using a continuous state feedback function. It will be shown that this approach asymptotically stabilizes the uncertain dynamical system globally. Results of simulations performed on a two-degree-of-freedom manipulator are provided to illustrate the validity of the proposed approach.

Original languageEnglish
Pages (from-to)311-321
Number of pages11
JournalProceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
Volume218
Issue number4
DOIs
Publication statusPublished - Jun 2004

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Robust control
Manipulators
Robots
Optimal control systems
Uncertain systems
State feedback
Nonlinear equations
Dynamical systems
Robotics
Uncertainty

Keywords

  • Manipulators
  • Optimal control
  • Robust control
  • Uncertainties

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

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abstract = "A mixed optimal/robust control is proposed in this paper for the tracking of rigid robotic systems under parametric uncertainties and external perturbations. The design objective is that under a prescribed disturbance norm level, an optimal control system is to be designed as well as a robust control to overcome the effect of uncertainties. The optimal control is based on the solution of a non-linear Ricatti equation, which, by virtue of the skew symmetry property of manipulators and an adequate choice of state variables, becomes an algebraic equation that is easy to solve. The design of the robust control of the uncertain system is then investigated using a continuous state feedback function. It will be shown that this approach asymptotically stabilizes the uncertain dynamical system globally. Results of simulations performed on a two-degree-of-freedom manipulator are provided to illustrate the validity of the proposed approach.",
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