Abstract
It is nontrivial to improve transient tracking performance for robotic manipulators in the presence of nonparametric uncertainties and external disturbances. In this paper, by introducing a time-varying scaling function and an error-dependent transformation, we present a performance-based tracking control scheme such that the transient tracking process is adjustable without involving large initial control effort. The resultant control algorithm is simple in structure, inexpensive in computation, user-friendly in design, and undemanding in implementation. Both theoretical analysis and numerical simulation verify the effectiveness and benefits of the proposed method.
Supported by the Graduate Scientific Research and Innovation Foundation of Chongqing under Grant CYB17048.
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Zhao, K. (2018). Error Transformation-Based Accelerated Adaptive Tracking Control of Uncertain Robotic Manipulators. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10985. Springer, Cham. https://doi.org/10.1007/978-3-319-97589-4_13
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DOI: https://doi.org/10.1007/978-3-319-97589-4_13
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