中文版 | English
Title

Robust model reference tracking for uncertain second-order nonlinear systems with application to robot manipulator

Author
Corresponding AuthorDuan,Guangren
Publication Years
2022
DOI
Source Title
ISSN
1049-8923
EISSN
1099-1239
Abstract
In this article, robust model reference control for uncertain second-order nonlinear systems is investigated by applying fully actuated system approaches. A robust stabilizing control law is constructed for the uncertain systems based on the Lyapunov stability theory. With the obtained robust control results, a robust model reference tracking (RMRT) control scheme is proposed to ensure the tracking error finally converges globally into a bounded ellipsoid. The established RMRT controller is composed of three parts, the basic part cancels the known nonlinearities in the system and simultaneously assigns the linear dominant term in the closed-loop system, the robustness part overcomes the effects of the nonlinear uncertainties in the system, the compensator part compensates the effect of the reference model state and reference control input to the tracking error. Furthermore, based on a general parametric solution to the type of Sylvester matrix equations, simple and complete parameterization of the RMRT control designs is provided. An application to robot manipulator indicates satisfactory control system performances with the proposed RMRT control scheme.
Keywords
URL[Source Record]
Indexed By
SCI ; EI
Language
English
SUSTech Authorship
First ; Corresponding
WOS Accession No
WOS:000879888900001
EI Accession Number
20224613105320
EI Keywords
Closed loop control systems ; Flexible manipulators ; Industrial robots ; Matrix algebra ; Modular robots ; Nonlinear systems ; Robot applications
ESI Classification Code
Automatic Control Principles and Applications:731 ; Control Systems:731.1 ; Robotics:731.5 ; Robot Applications:731.6 ; Algebra:921.1 ; Systems Science:961
ESI Research Field
ENGINEERING
Scopus EID
2-s2.0-85141628249
Data Source
Scopus
Citation statistics
Cited Times [WOS]:0
Document TypeJournal Article
Identifierhttp://kc.sustech.edu.cn/handle/2SGJ60CL/411886
DepartmentSouthern University of Science and Technology
Affiliation
1.Center for Control Science and Technology,Southern University of Science and Technology,Shenzhen,China
2.Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin,China
First Author AffilicationSouthern University of Science and Technology
Corresponding Author AffilicationSouthern University of Science and Technology
First Author's First AffilicationSouthern University of Science and Technology
Recommended Citation
GB/T 7714
Tian,Guangtai,Duan,Guangren. Robust model reference tracking for uncertain second-order nonlinear systems with application to robot manipulator[J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL,2022.
APA
Tian,Guangtai,&Duan,Guangren.(2022).Robust model reference tracking for uncertain second-order nonlinear systems with application to robot manipulator.INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL.
MLA
Tian,Guangtai,et al."Robust model reference tracking for uncertain second-order nonlinear systems with application to robot manipulator".INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL (2022).
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