Adaptive robust quadratic stabilization tracking control for robotic system with uncertainties and external disturbances

作者：Peng Jinzhu^*; Liu Yan

来源：Journal of Control Science and Engineering, 2014, 2014: 1-10.

DOI：10.1155/2014/715250

• Computed torque controllers
• External disturbances
• Parametric uncertainties
• Robotic manipulators
• Robust quadratic stabilization
• Tracking performance
• Uncertain robot manipulators
• Variable structure controls (VSC)

An adaptive robust quadratic stabilization tracking controller with hybrid scheme is proposed for robotic system with uncertainties and external disturbances. The hybrid scheme combines computed torque controller (CTC) with an adaptive robust compensator, in which variable structure control (VSC) and H∞ optimal control approaches are adopted. The uncertain robot manipulator is mainly controlled by CTC, the VSC is used to eliminate the effect of the uncertainties and ensure global stability, and H∞ approach is designed to achieve a certain tracking performance of closed-loop system. A quadratic stability approach, which allows separate treatment of parametric uncertainties, is used to reduce the conservatism of the conventional robust control approach. It can be also guaranteed that all signals in closed-loop system are bounded. The validity of the proposed control scheme is shown by computer simulation of a two-link robotic manipulator.

• 出版日期2014
• 单位郑州大学