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A Robust Tracking Controller for Electrically Driven Robot Manipulators: Stability Analysis and Experiment
Authors:Mohamadreza Homayounzade  Mehdi Keshmiri  Mostafa Ghobadi
Affiliation:1 Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan, Iran;
2 Department of Mechanical Engineering, University at Buffalo SUNY, New York, USA
Abstract: In this paper, a robust controller for electrically driven robotic systems is developed. The controller is designed in a backstepping manner. The main features of the controller are: 1) Control strategy is developed at the voltage level and can deal with both mechanical and electrical uncertainties. 2) The proposed control law removes the restriction of previous robust methods on the upper bound of system uncertainties. 3) It also benefits from global asymptotic stability in the Lyapunov sense. It is worth to mention that the proposed controller can be utilized for constrained and nonconstrained robotic systems. The effectiveness of the proposed controller is verified by simulations for a two link robot manipulator and a four-bar linkage. In addition to simulation results, experimental results on a two link serial manipulator are included to demonstrate the performance of the proposed controller in tracking a given trajectory.
Keywords:Electrically driven robots  Lyapunov stability  parametric uncertainty  robust control  uncertain actuator dynamics
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