Adaptive Robust Quadratic Stabilization Tracking Control for Robotic System with Uncertainties and External Disturbances. (25th March 2014)

• Record Type: Journal Article
• Authors: Peng, Jinzhu; Liu, Yan
• Other Names: Lam James Academic Editor.
• Is Part Of: Journal of control science and engineering. Volume 2014(2014)
• Publication Date: 2014-03-25
• Subjects: Control theory -- Periodicals; 629.831205
• DOI: 10.1155/2014/715250
• Languages: English
• ISSNs: 1687-5249

Abstract

Abstract : An adaptive robust quadratic stabilization tracking controller with hybrid scheme is proposed for robotic system with uncertainties and external disturbances. The hybrid scheme combines computed torque controller (CTC) with an adaptive robust compensator, in which variable structure control (VSC) and H ∞ optimal control approaches are adopted. The uncertain robot manipulator is mainly controlled by CTC, the VSC is used to eliminate the effect of the uncertainties and ensure global stability, and H ∞ approach is designed to achieve a certain tracking performance of closed-loop system. A quadratic stability approach, which allows separate treatment of parametric uncertainties, is used to reduce the conservatism of the conventional robust control approach. It can be also guaranteed that all signals in closed-loop system are bounded. The validity of the proposed control scheme is shown by computer simulation of a two-link robotic manipulator.