Robust model free control of robotic manipulators with prescribed transient and steady state performance

Charalampos P. Bechlioulis, Minas V. Liarokapis, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose a robust model free control scheme of minimal complexity (it is a static scheme involving very few and simple calculations to output the control signal) for robotic manipulators, capable of achieving prescribed transient and steady state performance. No information regarding the robot dynamic model is employed in the design procedure. Moreover, the tracking performance of the developed scheme (i.e., convergence rate and steady state error) is a priori and explicitly imposed by a designer-specified performance function, and is fully decoupled by both the control gains selection and the robot dynamic model. In that respect, the selection of the control gains is only confined to adopting those values that lead to reasonable control effort. Finally, two experimental studies in the joint and the Cartesian workspace clarify the design procedure and verify its performance and robustness against external disturbances.

Original languageEnglish (US)
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages41-46
Number of pages6
ISBN (Electronic)9781479969340
DOIs
StatePublished - Oct 31 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country/TerritoryUnited States
CityChicago
Period9/14/149/18/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint

Dive into the research topics of 'Robust model free control of robotic manipulators with prescribed transient and steady state performance'. Together they form a unique fingerprint.

Cite this