Prescribed performance control for robot joint trajectory tracking under parametric and model uncertainties
2009 (English)In: 17th Mediterranean Conference on Control and Automation, 2009. MED'09, VDE Verlag GmbH, 2009, 1313-1318 p.Conference paper (Refereed)
This work proposes a control law for the robot joint trajectory tracking in free space that achieves a prescribed performance of the joint position error under parametric uncertainties; the control law is extended for the case of bounded disturbances. A performance function incorporating predefined performance indices is used to produce a transformed error that is injected in the controller. Furthermore, asymptotic stability of the velocity error in case of zero disturbances and uniformly ultimate boundedness in an arbitrarily small region for bounded disturbances is achieved. Simulation results confirm the theoretical findings and compare the proposed controller with a conventional one.
Place, publisher, year, edition, pages
VDE Verlag GmbH, 2009. 1313-1318 p.
Automatic control, Control systems, Error correction, Nonlinear control systems, Orbital robotics, Robot control, Robotics and automation, Trajectory, Uncertainty, Velocity control
Engineering and Technology
IdentifiersURN: urn:nbn:se:kth:diva-50980DOI: 10.1109/MED.2009.5164728ISBN: 978-1-4244-4684-1OAI: oai:DiVA.org:kth-50980DiVA: diva2:463136
17th Mediterranean Conference on Control & Automation Makedonia Palace, Thessaloniki, Greece June 24 - 26, 2009
QC 201112092011-12-082011-12-082011-12-09Bibliographically approved