Book•
Robust Tracking Control of Robot Manipulators
01 Mar 1996-
TL;DR: Bringing together the latest research in the field, Robust Tracking Control of Robot Manipulators is the first book to provide systematic methods for stabilizing unwanted flexible, uncertain, and unmodeled dynamics.
Abstract: From the Publisher:
Bringing together the latest research in the field, Robust Tracking Control of Robot Manipulators is the first book to provide systematic methods for stabilizing unwanted flexible, uncertain, and unmodeled dynamics. The authors present a thorough comparison of state-of-the-art and classical designs of all controls: linear or nonlinear (simple or complicated), conventional or robust, adaptive or learning. Focusing on control design and performance analysis, this book will help you to apply advanced controls effectively and to establish equivalent and different robustness. This book will be invaluable as a guide to researchers and practicing engineers in the field of robot control, automation, and robotic engineering. It will also serve as a useful reference for control of robot manipulators and mechanical-electrical systems.
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01 Jan 2005
TL;DR: Many concrete problems from engineering, economics, operations research, etc., can be formulated by an optimization problem of the type ============�ατερατατηραγαγηαγγααγεγαβααβγατταγβαγ βγα βαγ αγα αβαββα αγγγ βαβ βα β βαα ββα β αγββ β β βββ α βα αα β
Abstract: Many concrete problems from engineering, economics, operations research, etc., can be formulated by an optimization problem of the type
$$\displaystyle\begin{array}{rcl} \min f_{0}(a,x)& &{}\end{array}$$
(1.1a)
$$\displaystyle\begin{array}{rcl} \mbox{ s.t.}& & {}\\ & & {}\\ \end{array}$$
$$\displaystyle\begin{array}{rcl} f_{i}(a,x)& \leq & 0,i = 1,\ldots,m_{f}{}\end{array}$$
(1.1b)
$$\displaystyle\begin{array}{rcl} g_{i}(a,x)& =& 0,i = 1,\ldots,m_{g}{}\end{array}$$
(1.1c)
$$\displaystyle\begin{array}{rcl} x \in D_{0}.& &{}\end{array}$$
(1.1d)
176 citations
TL;DR: In this paper, a robust PID controller is proposed for the cable-driven parallel manipulators to ensure that all cables remain in tension and internal force concept is used in the proposed PID control algorithm.
174 citations
TL;DR: In this article, an enhanced nonlinear PID (EN-PID) controller that exhibits the improved performance than the conventional linear fixed-gain PID controller is proposed, by incorporating a sector-bounded nonlinear gain in cascade with a conventional PID control architecture.
169 citations
TL;DR: This paper presents the design and experiment of a fuzzy proportional integral derivative (PID) controller for a flexible-joint robot arm with uncertainties from time-varying loads, and convincingly demonstrated that fuzzy logic control can be used for flexible-Joint robot arms with uncertainties and it is quite robust.
Abstract: This paper presents the design and experiment of a fuzzy proportional integral derivative (PID) controller for a flexible-joint robot arm with uncertainties from time-varying loads. Experimental results have shown remarkable tracking performance of this fuzzy PID controller, and have convincingly demonstrated that fuzzy logic control can be used for flexible-joint robot arms with uncertainties and it is quite robust. In this paper, the fuzzy PID controller is first described briefly, using a simple and practical PD+I controller configuration. This configuration preserves the linear structure of the conventional PD+I controller, but has nonconstant gains: the proportional, integral, and derivative gains are nonlinear functions of their input signals, which have self-tuning (adaptive) capabilities in set-point tracking performance. Moreover, these variable gains make the fuzzy PID controller robust with faster response time and less overshoot than its conventional counterpart. The proposed design was tested using a flexible-joint robot arm driven by a DC motor in a laboratory, where the arm was experienced with time-varying loads. Control performance by the conventional and fuzzy PID controllers for such a laboratory robotic system are both included in this paper for comparison.
161 citations
Cites methods from "Robust Tracking Control of Robot Ma..."
...There have been numerous conventional approaches in the literature to the control of various robotic manipulators, including robust control methods [ 14 ]....
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TL;DR: The literature of the last two decades contains many important advances in the control of flexible joint robots as mentioned in this paper, and a survey of these advances and an assessment for future developments is provided.
Abstract: The robotics literature of the last two decades contains many important advances in the control of flexible joint robots. This is a survey of these advances and an assessment for future developments, concentrated mostly on the control issues of flexible joint robots.
150 citations
Cites background from "Robust Tracking Control of Robot Ma..."
...Qu proposed a robust controller with local stability in [132], where he stated that is a generalization of his previous ideas about rigid robots [133,134]....
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