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Inventi Impact - Control Science & Engineering

Articles

  • Inventi:ecse/72/14
    ADAPTIVE ROBUST QUADRATIC STABILIZATION TRACKING CONTROL FOR ROBOTIC SYSTEM WITH UNCERTAINTIES AND EXTERNAL DISTURBANCES
    Jinzhu Peng, Yan Liu

    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 H8 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, andH8 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.

    How to Cite this Article
    CC Compliant Citation: Jinzhu Peng and Yan Liu, “Adaptive Robust Quadratic Stabilization Tracking Control for Robotic System with Uncertainties and External Disturbances,” Journal of Control Science and Engineering, vol. 2014, Article ID 715250, 10 pages, 2014. doi:10.1155/2014/715250.
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