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Author/Affiliation: Dang Xuan Ba
A Constrained Intelligent Nonlinear Control Method for Redundant Robotic Manipulators
Redundant robotic systems provide great challenges in solving kinematics and control problems, that are yet also open opportunities for exploring new, diverse and intelligent ideas and methods. In this paper, an advanced control method is proposed for position control problems of redundant robots with output constraints. The controller is structured with two control layers. In…
Read More A Fast Adaptive Time-delay-estimation Sliding Mode Controller for Robot Manipulators
A nonlinear adaptive robust controller is proposed in this paper for trajectory-tracking control problems of robot manipulators. On one hand, to effectively approximate the systematic dynamics, a simple time-delay estimator is first adopted. On the other hand, to minimize the control error, the controller is designed based on a sliding mode structure using the obtained…
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