Discrete Robust Control of Robot Manipulators using an Uncertainty and Disturbance Estimator

This article presents the design of a robust observer based on the discrete-time formulation of Uncertainty and Disturbance Estimator (UDE), a well-known robust control technique, for the purpose of controlling robot manipulators. The design results in a complete closed-loop, robust, controller--observer structure. The observer incorporates the estimate of the overall uncertainty associated with the plant, in order to mimic its dynamics, and the control law is generated using an auxiliary error instead of state tracking error. A detailed qualitative and quantitative stability analysis is provided, and simulations are performed on the two-link robot manipulator system. Further, a comparative study with well-known control strategies for robot manipulators is presented. The results demonstrate the efficacy of the proposed technique, with better tracking performance and lower control energy compared to other strategies.Comment: 20 pages, 7 figures, 1 tabl

A brief review of neural networks based learning and control and their applications for robots

As an imitation of the biological nervous systems, neural networks (NN), which are characterized with powerful learning ability, have been employed in a wide range of applications, such as control of complex nonlinear systems, optimization, system identification and patterns recognition etc. This article aims to bring a brief review of the state-of-art NN for the complex nonlinear systems. Recent progresses of NNs in both theoretical developments and practical applications are investigated and surveyed. Specifically, NN based robot learning and control applications were further reviewed, including NN based robot manipulator control, NN based human robot interaction and NN based behavior recognition and generation

Robust finite-time position and attitude tracking of a quadrotor UAV using super-twisting control algorithm with linear correction terms

This work investigates the problem of finite-time position and attitude trajectory of quadrotor unmanned aerial vehicle systems based on a modified second order sliding mode algorithm. The selected algorithm is a modified super-twisting with both nonlinear and linear correction terms.CONACYT – Consejo Nacional de Ciencia y TecnologíaPROCIENCI

Disturbance Observer-based Robust Control and Its Applications: 35th Anniversary Overview

Disturbance Observer has been one of the most widely used robust control tools since it was proposed in 1983. This paper introduces the origins of Disturbance Observer and presents a survey of the major results on Disturbance Observer-based robust control in the last thirty-five years. Furthermore, it explains the analysis and synthesis techniques of Disturbance Observer-based robust control for linear and nonlinear systems by using a unified framework. In the last section, this paper presents concluding remarks on Disturbance Observer-based robust control and its engineering applications.Comment: 12 pages, 4 figure