Decentralized Adaptive Robust Control of Robot Manipulators Using Disturbance Observers


In this paper, we propose a decentralized adaptive robust controller for trajectory tracking of robot manipulators. In every local controller, a disturbance observer (DOB) is introduced to compensate for the low-passed coupled uncertainties, and an adaptive sliding mode control term is used to handle the fast-changing parts of the uncertainties beyond the pass-band of the DOB. In distinction to most of the native controllers using DOB for robot manipulators that are based mostly on linear control theory, in this study, by some special nonlinear damping terms, the boundedness of the signals of the overall nonlinear system is initial ensured. This paves the method to investigate how the DOB and adaptive sliding mode control play in an exceedingly cooperative way in each native subsystem to achieve an glorious control performance. Simulation results are provided to support the theoretical results.

Did you like this research project?

To get this research project Guidelines, Training and Code... Click Here

PROJECT TITLE :Decentralized Detection of GPS Spoofing in Vehicular Ad Hoc Networks - 2018ABSTRACT:This letter proposes a decentralized scheme for the detection of world positioning system (GPS) spoofing in vehicular impromptu
PROJECT TITLE :Decentralized RLS With Data-Adaptive Censoring for Regressions Over Large-Scale Networks - 2018ABSTRACT:The deluge of networked information motivates the development of algorithms for computation- and communication-economical
PROJECT TITLE :Decentralized Joint Precoding With Pilot-Aided Beamformer Estimation - 2018ABSTRACT:Downlink beamforming techniques with low beamformer coaching overhead are proposed for joint processing (JP) coordinated multipoint
PROJECT TITLE :Decentralized DC Microgrid Monitoring and Optimization via Primary Control Perturbations - 2018ABSTRACT:We have a tendency to treat the emerging power systems with direct current (dc) microgrids, characterized with
PROJECT TITLE :Decentralized Relay Selection in Multi-User Multihop Decode-and-Forward Relay Networks - 2018ABSTRACT:This Project analyzes the performance of a multi-user multihop relay network employing a low complexity decentralized

Ready to Complete Your Academic MTech Project Work In Affordable Price ?

Project Enquiry