PROJECT TITLE :

Decentralized Adaptive Robust Control of Robot Manipulators Using Disturbance Observers

ABSTRACT :

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.


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