Robust Computed Torque Control for Uncertain Robotic Manipulatorss

This paper presents a robust control method for the trajectory control of the robotic manipulator. The standard Computed Torque Control (CTC) is an important method in the robotic control systems but its not robust to system uncertainty and external disturbance. The proposed method overcome the sys...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Maryam Sadeq Ahmed, Ali Hussien M Mary, Hisham Hassan Jasim
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2021
Materias:	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/460a6bc7c9e545cf8776892a473ac654
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:460a6bc7c9e545cf8776892a473ac654
record_format	dspace
spelling	oai:doaj.org-article:460a6bc7c9e545cf8776892a473ac6542021-12-02T17:37:59ZRobust Computed Torque Control for Uncertain Robotic Manipulatorss10.22153/kej.2021.09.0021818-11712312-0789https://doaj.org/article/460a6bc7c9e545cf8776892a473ac6542021-09-01T00:00:00Zhttps://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/745https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 This paper presents a robust control method for the trajectory control of the robotic manipulator. The standard Computed Torque Control (CTC) is an important method in the robotic control systems but its not robust to system uncertainty and external disturbance. The proposed method overcome the system uncertainty and external disturbance problems. In this paper, a robustification term has been added to the standard CTC. The stability of the proposed control method is approved by the Lyapunov stability theorem. The performance of the presented controller is tested by MATLAB-Simulink environment and is compared with different control methods to illustrate its robustness and performance. Maryam Sadeq AhmedAli Hussien M MaryHisham Hassan JasimAl-Khwarizmi College of Engineering – University of BaghdadarticleChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 17, Iss 3 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Maryam Sadeq Ahmed Ali Hussien M Mary Hisham Hassan Jasim Robust Computed Torque Control for Uncertain Robotic Manipulatorss
description	This paper presents a robust control method for the trajectory control of the robotic manipulator. The standard Computed Torque Control (CTC) is an important method in the robotic control systems but its not robust to system uncertainty and external disturbance. The proposed method overcome the system uncertainty and external disturbance problems. In this paper, a robustification term has been added to the standard CTC. The stability of the proposed control method is approved by the Lyapunov stability theorem. The performance of the presented controller is tested by MATLAB-Simulink environment and is compared with different control methods to illustrate its robustness and performance.
format	article
author	Maryam Sadeq Ahmed Ali Hussien M Mary Hisham Hassan Jasim
author_facet	Maryam Sadeq Ahmed Ali Hussien M Mary Hisham Hassan Jasim
author_sort	Maryam Sadeq Ahmed
title	Robust Computed Torque Control for Uncertain Robotic Manipulatorss
title_short	Robust Computed Torque Control for Uncertain Robotic Manipulatorss
title_full	Robust Computed Torque Control for Uncertain Robotic Manipulatorss
title_fullStr	Robust Computed Torque Control for Uncertain Robotic Manipulatorss
title_full_unstemmed	Robust Computed Torque Control for Uncertain Robotic Manipulatorss
title_sort	robust computed torque control for uncertain robotic manipulatorss
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2021
url	https://doaj.org/article/460a6bc7c9e545cf8776892a473ac654
work_keys_str_mv	AT maryamsadeqahmed robustcomputedtorquecontrolforuncertainroboticmanipulatorss AT alihussienmmary robustcomputedtorquecontrolforuncertainroboticmanipulatorss AT hishamhassanjasim robustcomputedtorquecontrolforuncertainroboticmanipulatorss
_version_	1718379818668523520

Robust Computed Torque Control for Uncertain Robotic Manipulatorss

Ejemplares similares