Abstract
This paper considers the trajectory tracking problem for uncertain robot manipulators subject to external disturbance torques. The external disturbance torques are assumed to be unknown and time-varying. We present a disturbance observer-based controller which estimates the lumped disturbance (the external disturbance torque combined with the effect of plant uncertainties), and compensates it so that the overall closed-loop system behaves like the nominal closed-loop system that is composed of the nominal model of robot manipulator and the feedback linearization-based tracking controller. A simplified implementation of the proposed controller is also introduced. Simulation results on a robot manipulator are given to validate the performance of the proposed controller.
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Recommended by Associate Editor Yang Tang under the direction of Editor Jessie (Ju H.) Park. This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (NRF-2015R1D1A1A01059057), the Korea Institute of Energy Technology Evaluation and Planning (KETEP) and the Ministry of Trade, Industry & Energy (MOTIE) of the Republic of Korea (No. 20153010024470), and the Research Grant of Kwangwoon University in 2016.
Wonseok Ha received his B.S. and M.S. degrees in Information and Control Engineering and Control and Instrumentation Engineering from Kwangwoon University, Seoul, Korea, in 2014 and 2016, respectively. He is currently working toward a Ph.D. degree at Kwangwoon University. His research interests include nonlinear control and robust control.
Juhoon Back received his B.S. and M.S. degrees in Mechanical Design and Production Engineering from Seoul National University, in 1997 and 1999, respectively. He received his Ph.D. degree from the School of Electrical Engineering and Computer Science, Seoul National University in 2004. From 2005 to 2006, he worked as a research associate at Imperial College London, UK. Since 2008 he has been with Kwangwoon University, Korea, where he is currently a professor. His research interests include control system theory and design, renewable energy systems, and multi agent systems.
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Ha, W., Back, J. A Disturbance Observer-based Robust Tracking Controller for Uncertain Robot Manipulators. Int. J. Control Autom. Syst. 16, 417–425 (2018). https://doi.org/10.1007/s12555-017-0188-x
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DOI: https://doi.org/10.1007/s12555-017-0188-x