Title: Robust control for robotic manipulators with non-smooth strategy

Authors: Dongya Zhao; Hao Liang; Quanmin Zhu

Addresses: College of Chemical Engineering, China University of Petroleum, Qingdao, China ' College of Chemical Engineering, China University of Petroleum, Qingdao, China ' College of Chemical Engineering, China University of Petroleum, Qingdao, China; Bristol Institute of Technology, University of the West of England, Bristol, UK

Abstract: In this paper, a novel non-smooth robust control approach is presented for robotic manipulators. By using decimal power rule in Lyapunov redesign methods, the conventional robust control for robot is improved. Our approach can achieve higher control precision with faster convergence speed. The formulations of estimating residual set and settling time have been initially established. The practical stability property is analysed. An illustrative example is bench tested to validate the effectiveness of the proposed approach.

Keywords: non-smooth control; robot control; robust control; practical stability; robotic manipulators.

DOI: 10.1504/IJMIC.2015.068874

International Journal of Modelling, Identification and Control, 2015 Vol.23 No.2, pp.112 - 120

Available online: 15 Apr 2015 *

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