Abstract
The aim of this manuscript is to develop a robust output-based controller for a master-slave robot manipulator (RM), under state constraints. The proposed controller satisfies a regular proportional-derivative (PD) structure with time-varying gains. This controller includes an integral compensation term which is guaranteeing the collision avoidance with possible obstacles placed within the boundaries of the task work-space. The attractive ellipsoid method justifies the design of the control strategy. The solution of a matrix inequality characterizes the zone of convergence and the sub-optimal control gains. A set of numerical simulations based on a two-link RM illustrates the advantages obtained with the proposed method.
David Cruz-Ortiz is sponsored by Mexico scholarship from the CONACYT, scholar reference: 550817.
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Cruz-Ortiz, D., Chairez, I., Poznyak, A. (2020). Robust Control of a Master-Slave Manipulator Under Restricted Task-Space. In: Hernandez, E., Keshtkar, S., Valdez, S. (eds) Industrial and Robotic Systems. LASIRS 2019. Mechanisms and Machine Science, vol 86. Springer, Cham. https://doi.org/10.1007/978-3-030-45402-9_23
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