DISTURBANCE ESTIMATOR-BASED CONTROL FOR MANIPULATORS WITH MODEL UNCERTAINTY AND DISTURBANCE

Nguyễn Hoài Nam; Hà Lương Thành Đức; Lê Văn Danh; Ngô Đức Minh; Nguyễn Minh Anh; Nguyễn Thành Chiến; Phạm Bá Quang

doi:10.34238/tnu-jst.10595

DISTURBANCE ESTIMATOR-BASED CONTROL FOR MANIPULATORS WITH MODEL UNCERTAINTY AND DISTURBANCE

About this article

Received: 12/06/24 Revised: 10/07/24 Published: 11/07/24

Authors

1. Nguyen Hoai Nam , School of Electrical and Electronic Engineering - Hanoi University of Science and Technology
2. Ha Luong Thanh Duc, School of Electrical and Electronic Engineering - Hanoi University of Science and Technology
3. Le Van Danh, School of Electrical and Electronic Engineering - Hanoi University of Science and Technology
4. Ngo Duc Minh, School of Electrical and Electronic Engineering - Hanoi University of Science and Technology
5. Nguyen Minh Anh, School of Electrical and Electronic Engineering - Hanoi University of Science and Technology
6. Nguyen Thanh Chien, School of Electrical and Electronic Engineering - Hanoi University of Science and Technology
7. Pham Ba Quang, Chu Van An High School, Hanoi

Abstract

Robotic manipulators have been widely applied in practice. They operate in different environments and can take time-varying loads. Thus, their mathematical models can be uncertain and will be affected by external disturbances. In this paper, a disturbance estimator-based feedback linearization controller is proposed for a robotic manipulator with model uncertainty and unknown disturbance. First, a mathematical model with model uncertainty and unknown disturbance is obtained for the robotic manipulators. Then, based on this model, the disturbance estimator and proposed controller are designed. Next, stability analysis is rigorously performed, and the tracking error is proved to be bounded. The proposed controller improves the control performance of the feedback linearization controller when there exists model uncertainty and disturbance. Numerical simulations for a two-link planar robot are carried out to verify the proposed regulator and to compare with the existing one. Results show that the control quality is better than that of the feedback linearization controller.

Keywords

Disturbance estimator; Manipulator; Feedback linearization; Model uncertainty; Nonlinear system

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References

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DOI: https://doi.org/10.34238/tnu-jst.10595

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