Adaptive Robust Control for Accurate Trajectory Tracking of Collaborative Robots
文献类型：会议论文
| 作者 | Wang H(王浩)1,2,3; Wang HG(王洪光)1,2,3 ; Wang Z(王争)1,3; Hou ZL(侯赵磊)1,3
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| 出版日期 | 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 |
| 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.School of Information Science and Technology, University of Science and Technology of China, Hefei 230022, China 3.State Key Laboratory of Robotics, Shenyang Institute ofAutomation, Chinese Academy of Sciences, Shenyang 110016, 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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