Control Design for Harmonic Disturbance Rejection for Robot Manipulators with Bounded Inputs
In this paper, we consider the tracking control problem under input constraints for robot manipulators which are affected by unmeasurable harmonic disturbances. A new control scheme is proposed for the problem, which composed of a parameter-dependent nonlinear observer and a tracking controller. The parameter-dependent nonlinear observer designed by the internal model principle, can achieve a estimation and compensating of a class of harmonic disturbance with unknown frequency. The tracking controller, which is designed via adaptive technique, can asymptotically track desired trajectory. In control design using continuous piecewise differentiable increasing function to limit control input, such that control input saturation is avoided. The Lyapunov stability of closed loop system is analyzed. The simulation results show the effectiveness of the proposed controller.
tracking control of robot harmonic disturbance rejection internal model principle input constraint
Xiaochen Wang Yu Yao Fenghua He
Control and Simulation Center, Harbin Institute of Technology, Harbin 150080, China
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
2323-2328
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）