# Evaluation of Three Nonlinear Control Methods to Reject the Constant Bounded Disturbance for Robotic Manipulators

@article{Ghavifekr2012EvaluationOT, title={Evaluation of Three Nonlinear Control Methods to Reject the Constant Bounded Disturbance for Robotic Manipulators}, author={Amir Aminzadeh Ghavifekr and Saeed Pezeshki and Arash Arjmandi}, journal={ArXiv}, year={2012}, volume={abs/2008.06676} }

In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which are composed of integral action and tracking controllers. The goal is improving the accuracy of tracking procedure for a robot manipulator to track a specified reference signal in the presence of constant bounded disturbances. Inverse dynamics controller, improved Lyapunovbased controller with integral action…

## 2 Citations

### An Analysis of Sampling Effect on the Absolute Stability of Discrete-time Bilateral Teleoperation Systems

- Computer Science2019 IEEE East-West Design & Test Symposium (EWDTS)
- 2019

Input-delay approach is used in this paper to convert the sampled-data system to a continuous-time counterpart and imposes upper bounds on the damping of robots and notifies the sampling time importance on the transparency and stability of the system.

### Model Identification of Single Rotary Inverted Pendulum Using Modified Practical Swarm Optimization Algorithm

- Computer Science2020 28th Iranian Conference on Electrical Engineering (ICEE)
- 2020

The modified particle swarm optimization algorithm (PSO) is utilized in this paper for identification of the dynamics of the rotary inverted pendulum and can overcome the parameter convergence that exists in the conventional evolutionary algorithms such as Genetic Algorithms.

## References

SHOWING 1-10 OF 13 REFERENCES

### Perfomance-based adaptive tracking control of robot manipulators

- EngineeringJ. Field Robotics
- 1995

Two new adaptive schemes for the motion control of robot manipulators are presented and it is shown that the control strategies are globally stable in the presence of bounded disturbances, and that in the absence of disturbances the ultimate bound on the size of the tracking errors can be made arbitrarily small.

### Feedback control for linear time-invariant systems with state and control bounds in the presence of disturbances

- Mathematics
- 1990

It is proved that a solution of the problem of the stabilizing linear control synthesis in the presence of state and input bounds for systems with additive unknown disturbances is achieved by the selection of a polyhedral set S and the computation of a feedback matrix K such that S is positively D-invariant for the closed-loop system.

### Instability analysis and robust adaptive control of robotic manipulators

- Engineering, MathematicsProceedings of the 27th IEEE Conference on Decision and Control
- 1988

The robustness of adaptive controllers with respect to uncertainty is examined and adaptive laws for updating the controller parameters are modified so that instabilities are counteracted and robustness is guaranteed.

### Rejection of persistent L∞-bounded disturbances for nonlinear systems

- MathematicsIEEE Trans. Autom. Control.
- 1998

A nonlinear /spl Lscr//sup 1/-control problem, which deals with the rejection of persistent bounded disturbances for nonlinear systems, is investigated and an invariant subset in the state space is constructed such that achieving disturbance rejection is equivalent to restricting the state dynamics to the subset.

### Active noise control for periodic disturbances

- EngineeringProceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)
- 1998

An active noise control algorithm for periodic disturbances of unknown frequency is proposed and the dynamic behavior of the closed-loop system is analyzed using an approximation that is shown, in simulations, to provide an accurate representation of the system's behavior.

### Persistent disturbance rejection via static-state feedback

- MathematicsIEEE Trans. Autom. Control.
- 1995

An alternative, constructive proof of Shamma's results for discrete- and continuous-time systems shows that in both cases, the l/sup 1/ norm achieved by any stabilizing state-feedback linear dynamic controller can be also achieved using a memoryless variable structure controller.

### Robot Modeling and Control

- Mathematics
- 2005

Preface. 1. Introduction. 2. Rigid Motions and Homogeneous Transformations. 3. Forward and Inverse Kinematics. 4. Velocity Kinematics-The Jacobian. 5. Path and Trajectory Planning. 6. Independent…

### Feedback attenuation and adaptive cancellation of blade vortex interaction on a helicopter blade element

- EngineeringIEEE Trans. Control. Syst. Technol.
- 1999

This paper presents the application, first of feedback control strategies, and then of adaptive cancellation on Hariharan and Leishman's linear aerodynamic model of a trailing edge flap, and arrives at an adaptive scheme whose stability is discussed via averaging.

### Adaptive suppression of vibrations - a repetitive control approach

- EngineeringIEEE Trans. Control. Syst. Technol.
- 1996

The aim of this paper is to present an adaptive solution to suppression of vibrations that has its roots in repetitive control based on models of isolated frequencies rather than the commonly used delay model.

### Self-Tuning Systems: Control and Signal Processing

- Computer Science
- 1991

This work provides comprehensive coverage of the main techniques and methods necessary to construct a self-tuning and self-adaptive system, eliminating a lot of theoretical rigor.