Proper uncertainty bound parameter to robust control of electrical manipulators using nominal model |
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Authors: | Mohammad Mehdi Fateh |
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Institution: | 1.Department of Electrical and Robotic Engineering,Shahrood University of Technology,Shahrood,Iran |
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Abstract: | This paper focuses on the uncertainty bound parameter (UBP) to design the robust control of electrical manipulators. The UBP
is commonly obtained by considering the worst case of uncertainties in bounding functions. However, too high estimation of
UBP may cause saturation of input, higher frequency of chattering in the switching control laws, and thus a bad behavior of
the whole system, while too low estimation of UBP may cause a higher tracking error. A proper UBP is preferred to improve
the performance of robust control system. A simple, less dependent and proper UBP is proposed based on the nominal model of
electrical manipulator and feedbacks of joint accelerations. This work is motivated by recent experimental results in measuring
acceleration by optical encoder. Modeling of an electrical manipulator with presence of uncertainties is presented for control
purposes. The proposed robust control is justified by stability analysis. |
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