Adaptive Robust Control for Accurate Trajectory Tracking of Collaborative Robots

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 工艺装备与智能机器人研究室

	Adaptive Robust Control for Accurate Trajectory Tracking of Collaborative Robots
	Wang H(王浩)1,2,3; Wang HG(王洪光)1,2,3; Wang Z(王争)1,2; Hou ZL(侯赵磊)1,2
	2019
会议日期	July 29 - August 2, 2019
会议地点	Suzhou, China
页码	329-334
英文摘要	In this paper, an adaptive robust control method is proposed by modeling and analyzing the dynamics of the manipulator, which is used to accurately track the desired trajectory in the free space. This controller can estimate the dynamic parameters in real time and can be used to compensate for the control error caused by the uncertain dynamic model and the variable load mass, so as to improve the robustness and control accuracy of the control system. In addition, the proposed controller introduces disturbance observer to compensate the error caused by unknown external disturbance. Before the proposed controller is applied to the manipulator system, its stability analysis is performed by Lyapunov stability theory and some simulation verifies its performance.
产权排序	1
会议录	Proceedings of 9th IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISSN号	2379-7711
ISBN号	978-1-7281-0770-7
WOS记录号	WOS:000569550300057
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/27663]
专题	工艺装备与智能机器人研究室
通讯作者	Wang H(王浩)
作者单位	1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 2.State Key Laboratory of Robotics, Shenyang Institute ofAutomation, Chinese Academy of Sciences, Shenyang 110016, China 3.School of Information Science and Technology, University of Science and Technology of China, Hefei 230022, China
推荐引用方式 GB/T 7714	Wang H,Wang HG,Wang Z,et al. Adaptive Robust Control for Accurate Trajectory Tracking of Collaborative Robots[C]. 见:. Suzhou, China. July 29 - August 2, 2019.