Nothing Special   »   [go: up one dir, main page]

Pham et al., 2024 - Google Patents

Model adaptive reference tracking control for uncertain robotic manipulators with input disturbance

Pham et al., 2024

Document ID
906897607366566887
Author
Pham T
Nguyen Q
Publication year
Publication venue
Asian Journal of Control

External Links

Snippet

This article presents a simple approach for designing a linear adaptive controller, employing the model reference systems concept, to enable the tracking of uncertain robotic manipulators under the influence of input disturbances. The combined impact of model …
Continue reading at onlinelibrary.wiley.com (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/32—Automatic controllers electric with inputs from more than one sensing element; with outputs to more than one correcting element
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B5/00—Anti-hunting arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B15/00—Systems controlled by a computer
    • G05B15/02—Systems controlled by a computer electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B21/00—Systems involving sampling of the variable controlled

Similar Documents

Publication Publication Date Title
Fei et al. Adaptive fuzzy super‐twisting sliding mode control for microgyroscope
Wei et al. Composite hierarchical anti‐disturbance control for nonlinear systems with DOBC and fuzzy control
Tripathi et al. Finite‐time super twisting sliding mode controller based on higher‐order sliding mode observer for real‐time trajectory tracking of a quadrotor
Liu et al. An adaptive iterative learning algorithm for boundary control of a flexible manipulator
Duc et al. Adaptive fuzzy fractional-order nonsingular terminal sliding mode control for a class of second-order nonlinear systems
Delchev Iterative learning control for nonlinear systems: A bounded‐error algorithm
Wang et al. Rapid-convergent nonlinear differentiator
Yoo Observer‐based decentralized adaptive control for large‐scale pure‐feedback systems with unknown time‐delayed nonlinear interactions
Hu et al. High accuracy adaptive motion control for a robotic manipulator with model uncertainties based on multilayer neural network
Wang et al. Neural learning control of flexible joint manipulator with predefined tracking performance and application to baxter robot
Zhong et al. An ADRC‐based PID tuning rule
Kasac et al. Frequency‐shifting‐based algebraic approach to stable on‐line parameter identification and state estimation of multirotor UAV
Zheng et al. Sliding mode control for fuzzy Markovian jump singular system with time-varying delay
Bououden et al. Fuzzy Sliding Mode Controller Design Using Takagi‐Sugeno Modelled Nonlinear Systems
Su et al. Fixed-time adaptive neural network synchronization control for teleoperation system with position error constraints and time-varying delay
Pham et al. Model adaptive reference tracking control for uncertain robotic manipulators with input disturbance
Gonzalez et al. Fast hybrid dual mode NMPC for a parallel double inverted pendulum with experimental validation
Cheong et al. Adaptive fuzzy dynamic surface sliding mode position control for a robot manipulator with friction and deadzone
Hayat et al. Model identification for robot manipulators using regressor-free adaptive control
Jia Control of flexible joint robot based on motor state feedback and dynamic surface approach
Liang et al. Task space trajectory tracking control of robot manipulators with uncertain kinematics and dynamics
Theodoridis et al. Direct adaptive neuro‐fuzzy trajectory tracking of uncertain nonlinear systems
Pang et al. Robust Optimal Sliding‐Mode Tracking Control for a Class of Uncertain Nonlinear MIMO Systems
Rodríguez et al. Real‐Time Results for High Order Neural Identification and Block Control Transformation Form Using High Order Sliding Modes
Izadbakhsh et al. Adaptive control of cooperative robots in the presence of disturbances and uncertainties: A Bernstein–Chlodowsky approach