MIMO Uncertain Nonlinear System Control via Adaptive High-Order Super Twisting Sliding Mode and its Application to Robotic Manipulator
Sign Up to like & getrecommendations! Published in 2017 at "Journal of Control, Automation and Electrical Systems"
DOI: 10.1007/s40313-016-0286-7
Abstract: This paper presents a robust, continuous, finite-time convergent, adaptive, high-order super twisting sliding mode controller for a class of multi input–multi output uncertain nonlinear system and its application to robotic manipulator. The limitation on conventional… read more here.
Keywords: sliding mode; control; robotic manipulator; application ... See more keywords
PID controller with novel PSO applied to a joint of a robotic manipulator
Sign Up to like & getrecommendations! Published in 2021 at "Journal of the Brazilian Society of Mechanical Sciences and Engineering"
DOI: 10.1007/s40430-021-03092-4
Abstract: This paper presents a speed control of one robotic manipulator joint driven by a three-phase induction motor (IM) that uses space vector modulation based on pulse width modulation (SVPWM). Three metaheuristic algorithms are considered: genetic… read more here.
Keywords: robotic manipulator; pid controller; pso; controller novel ... See more keywords
Disturbance observer-based LPV feedback control of a N-DoF robotic manipulator including compliance through gain shifting
Sign Up to like & getrecommendations! Published in 2021 at "Control Engineering Practice"
DOI: 10.1016/j.conengprac.2021.104887
Abstract: This paper proposes a control scheme for a N-DoF robotic manipulator in a joint-regulation motion problem, dealing with disturbances (as e.g. exogenous forces, unmodelled dynamics) that hinder task fulfilment, and also considering that not all… read more here.
Keywords: control; manipulator; robotic manipulator; feedback control ... See more keywords
Event-triggered based adaptive neural network control of a robotic manipulator with output constraints and disturbance
Sign Up to like & getrecommendations! Published in 2021 at "International Journal of Systems Science"
DOI: 10.1080/00207721.2020.1856443
Abstract: This paper studies event-triggered based adaptive neural network (NN) tracking control of a robotic manipulator with output constraints and disturbance. First, a novel asymmetric tan-type barrier Lyapunov function (BLF) is developed to satisfy the requirement… read more here.
Keywords: event; output constraints; robotic manipulator; neural network ... See more keywords
Modelling and optimisation of a 4-DOF hybrid robotic manipulator
Sign Up to like & getrecommendations! Published in 2017 at "International Journal of Computer Integrated Manufacturing"
DOI: 10.1080/0951192x.2017.1305505
Abstract: The global compliance and global condition index of a 4-degrees-of-freedom hybrid robotic manipulator are modelled and optimised. The kinematic analysis of the hybrid robotic manipulator is studied in detail. The manipulator compliance model is obtained… read more here.
Keywords: global compliance; mechanism; compliance; robotic manipulator ... See more keywords
Modeling and control of a 3-DOF articulated robotic manipulator using self-tuning fuzzy sliding mode controller
Sign Up to like & getrecommendations! Published in 2021 at "Cogent Engineering"
DOI: 10.1080/23311916.2021.1950105
Abstract: Robotic manipulators are highly coupled multi-input multi-output (MIMO) nonlinear systems with uncertainties and highly time-varying dynamic capabilities. These characteristics make the trajectory ... read more here.
Keywords: modeling control; manipulator using; control dof; robotic manipulator ... See more keywords
Estimation-Based Quadratic Iterative Learning Control for Trajectory Tracking of Robotic Manipulator With Uncertain Parameters
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Access"
DOI: 10.1109/access.2020.2977687
Abstract: In this paper, we consider iterative learning control for trajectory tacking of robotic manipulator with uncertainty. An improved quadratic-criterion-based iterative learning control approach (Q-ILC) is proposed to obtain better trajectory tracking performance for the robotic… read more here.
Keywords: control; manipulator; learning control; robotic manipulator ... See more keywords
RISE-Adaptive Neural Control for Robotic Manipulators With Unknown Disturbances
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DOI: 10.1109/access.2020.2997383
Abstract: In this paper, a RISE-based adaptive neural network prescribed performance control is presented for the robotic manipulator with unknown disturbance. A prescribed performance function (PPF) characterizing settling time, overshoot, steady-state error, and convergence rate is… read more here.
Keywords: control; robotic manipulator; neural control; adaptive neural ... See more keywords
Adaptive Fuzzy Backstepping Control Based on Dynamic Surface Control for Uncertain Robotic Manipulator
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DOI: 10.1109/access.2022.3154779
Abstract: In the actual operation site, the dynamics of robotic manipulators is affected by two uncertainties, i.e., external disturbances and modeling errors. In this paper, an adaptive fuzzy backstepping controller based on dynamic surface control is… read more here.
Keywords: robotic manipulator; dynamic surface; control; controller ... See more keywords
Design and Modeling of a Hybrid Soft Robotic Manipulator With Compliant Mechanism
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3248485
Abstract: The recent surge of interest in soft robotics has prompted many interesting soft robotic manipulator designs to be proposed. However, current soft robotic manipulators mainly focus on bending and rotation, while elongation has not received… read more here.
Keywords: robotic manipulator; soft robotic; manipulator; hybrid soft ... See more keywords
Switched Controller Design for Robotic Manipulator via Neural Network-Based Sliding Mode Approach
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Circuits and Systems II: Express Briefs"
DOI: 10.1109/tcsii.2022.3169475
Abstract: In this brief, a novel adaptive switched controller of uncertain industry robotic manipulator (IRM) systems with switching loads is designed for trajectory tracking by utilizing switching neural network-based sliding mode control (SNNSMC) scheme. However, the… read more here.
Keywords: system; neural network; robotic manipulator; switched controller ... See more keywords