Journal ArticleDOI
Robust control of robot manipulators: A survey
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In this paper, the authors present an overview of robust control schemes for robot manipulators, including linear, passivity-based, Lyapunov-based and robust adaptive control schemes.Abstract:
This paper presents an overview of robust control schemes for robot manipulators. The survey summarizes the vast literature on the subject. The different modelling assumptions used in current control algorithms are thoroughly reviewed. The survey includes models of actuator dynamics and joint flexibility. The different control schemes are organized in the following six categories: linear schemes, passivity-based schemes, Lyapunov-based schemes, sliding mode control schemes, non-linear H omega schemes and robust adaptive control schemes. Connections and comparisons are made between the various algorithms.read more
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Journal ArticleDOI
Continuous finite-time control for robotic manipulators with terminal sliding modes
TL;DR: A continuous finite-time control scheme for rigid robotic manipulators is proposed using a new form of terminal sliding modes using the Lyapunov stability theory, and theoretical analysis and simulation results show that faster and high-precision tracking performance is obtained.
Journal ArticleDOI
Nonlinear Disturbance Observer Design For Robotic Manipulators
TL;DR: In this paper, a general systematic approach is proposed to solve the disturbance observer design problem for robotic manipulators without restrictions on the number of degrees of freedom (DOF), the types of joints, or the manipulator configuration.
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Dynamic sliding PID control for tracking of robot manipulators: theory and experiments
TL;DR: A simple decentralized continuous sliding PID controller for tracking tasks that yields semiglobal stability of all closed-loop signals with exponential convergence of tracking errors is proposed.
Journal ArticleDOI
Disturbance Observer-Based Robust Control and Its Applications: 35th Anniversary Overview
TL;DR: The Disturbance Observer (DOB) has been one of the most widely used robust control tools since it was proposed by Ohnishi in 1983 as mentioned in this paper, and it has been widely used in robust control applications.
Journal ArticleDOI
A new variable structure PID-controller design for robot manipulators
TL;DR: A comparative analysis with a plenty of simulation results soundly confirmed that the performance of developed variable structure PID controller is better under than those of both classical PID controller and an existing variable structure controller with PID-sliding surface.