Tracking Control of Electrically Driven Robots Using a Model-free Observer

نویسندگانSaeed Khorashadizadeh,Izadbakhsh Alireza,Kheirkhahan Payam
نشریهRobotica
شماره صفحات729-755
شماره سریال4
شماره مجلد37
ضریب تاثیر (IF)0.688
نوع مقالهFull Paper
تاریخ انتشار2019
رتبه نشریهISI
نوع نشریهچاپی
کشور محل چاپایران
نمایه نشریهJCR،Scopus

چکیده مقاله

This paper presents a robust tracking controller for electrically driven robots, without the need for velocity measurements of joint variables. Many observers require the system dynamics or nominal models, while a model-free observer is presented in this paper. The novelty of this paper is presenting a new observer–controller structure based on function approximation techniques and Stone–Weierstrass theorem using differential equations. In fact, it is assumed that the lumped uncertainty can be modeled by linear differential equations. Then, using Stone–Weierstrass theorem, it is verified that these differential equations are universal approximators. The advantage of proposed approach in comparison with previous related works is simplicity and reducing the dimensions of regressor matrices without the need for any information of the systems’ dynamic. Simulation results on a 6-degrees of freedom robot manipulator driven by geared permanent magnet DC motors indicate the satisfactory performance of the proposed method in overcoming uncertainties and reducing the tracking error. To evaluate the performance of proposed controller in practical implementations, experimental results on an SCARA manipulator are presented.

لینک ثابت مقاله

tags: Tracking Control; Electrically Driven Robots; Model-free Observer