Adaptive compensate control for uncertain robot system with input constraints
In practical robot control systems, the input constraints problem, caused by a limited actuator output amplitude, is due to its own physical characteristics. In traditional control methods, this nonlinear problem is not paid enough attention, especially for robot systems with unknown disturbance. To...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2019-04-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814019837072 |
| Summary: | In practical robot control systems, the input constraints problem, caused by a limited actuator output amplitude, is due to its own physical characteristics. In traditional control methods, this nonlinear problem is not paid enough attention, especially for robot systems with unknown disturbance. To handle this problem, adaptive compensate control for uncertain robot system with input constraints is proposed. It is combined with adaptive compensate control and hyperbolic tangent function to ensure that the uncertain robot system with input constraints is stable. The simulation results showed that the proposed method can make the uncertain robot system reach a stable state. |
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| ISSN: | 1687-8140 |