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Intelligent control of space manipulator with flexible-link and flexible-joint is discussed based on the singular perturbation method. Owing to the combined effects of the link and joint flexibilities, the dynamic model of this kind of manipulator becomes more complex and leads to a series of unsolved control system. To simplify the design of the control system, singular perturbation method is used...
Driving an anthropomorphic robot arm driven by pneumatic artificial rubber muscles (PARMs) with a direct transmission is quite delicate. PARMs present complex nonlin-earities and robust control tools are unevitable. Among them, those applied are the twisting and super twisting algorithms, which belong to the 2-higher order sliding mode control set. In this paper it is studied the effect of the equivalent...
The method of equivalent errors, previously proposed for unconstrained motion systems, is generalized to the system with holonomic constraints. It is shown that the method can be equally applied to the constrained system provided that the constraints satisfy a proper condition. Because of the constraints, the states in the control law are not completely independent. The unavailable states can be estimated...
This paper proposes new robust control allocation method of redundantly actuated variable structure systems. The original system is divided into two subsystems by factorizing the input matrix. Then all system uncertainties can be treated with the virtual control input. The control strategy has two steps. At the first step the virtual control input is found with sliding mode control with perturbation...
In this paper, a new and systematic approach to design a continuous sliding mode control (CSMC) for tracking control of a class of MIMO nonlinear uncertain systems is presented. The proposed method is designed based on online estimation of the uncertainties instead of using the upper bound of uncertainties which is difficult or impossible to find in many cases. The on-line estimation of the uncertainties...
A novel control strategy based on passivity theory was proposed with special attention to trajectory tracking and robust control of rigid robot. In this paper, robot model was divided into nominal model and uncertainty part. Based on the backstepping approach, feedback passivity was used to design controller for the nominal model. A variable structure concentrated compensation controller was adopted...
A novel global sliding model control (GSMC) control law based on backstepping method was proposed for tracking control of robot manipulators with uncertainties. This control scheme consisted of two combined controllers. One was the integral backstepping controller for nominal model method, the other was the compensatory sliding mode controller for practical plant. This control scheme integrated the...
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