Adaptive Region Tracking Control for Robot Manipulator Systems with Uncertain Kinematics and Dynamics

Yu, J; Xiang, L; Ji, J; Miao, Z; Zhou, J

Adaptive Region Tracking Control for Robot Manipulator Systems with Uncertain Kinematics and Dynamics

Yu, J Xiang, L Ji, J

Miao, Z Zhou, J

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Publication Type:: Conference Proceeding
Citation:: Chinese Control Conference, CCC, 2018, 2018-July pp. 2909 - 2914
Issue Date:: 2018-10-05

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Field	Value	Language
dc.contributor.author	Yu, J	en_US
dc.contributor.author	Xiang, L	en_US
dc.contributor.author	Ji, J https://orcid.org/0000-0003-3280-5463	en_US
dc.contributor.author	Miao, Z	en_US
dc.contributor.author	Zhou, J	en_US
dc.date.issued	2018-10-05	en_US
dc.identifier.citation	Chinese Control Conference, CCC, 2018, 2018-July pp. 2909 - 2914	en_US
dc.identifier.isbn	9789881563941	en_US
dc.identifier.issn	1934-1768	en_US
dc.identifier.uri	http://hdl.handle.net/10453/133017
dc.description.abstract	© 2018 Technical Committee on Control Theory, Chinese Association of Automation. This paper studies the region tracking control problem of robot manipulator systems modeled by Lagrangian dynamics with uncertain kinematics and dynamics. By introducing a novel sliding mode, an adaptive controller is constructed to make the robot manipulator reach and track a desired dynamic region. Furthermore, a simple yet generic criterion on the region tracking control problem for robot manipulator systems is derived. It is shown that the robot end-effector can be able to reach in the desired dynamic region with the proposed controller in the presence of the uncertain kinematics and dynamics parameters. Based on the investigation, we revisit the region tracking problem with different control methodologies, to gain a brand-new understanding in the region tracking control problem. Finally, simulation results are presented to demonstrate the effectiveness of the theoretical results.	en_US
dc.relation.ispartof	Chinese Control Conference, CCC	en_US
dc.relation.isbasedon	10.23919/ChiCC.2018.8483462	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.title	Adaptive Region Tracking Control for Robot Manipulator Systems with Uncertain Kinematics and Dynamics	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2018-July	en_US
utslib.for	0913 Mechanical Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access	*
pubs.publication-status	Published	en_US
pubs.volume	2018-July	en_US

Abstract:

© 2018 Technical Committee on Control Theory, Chinese Association of Automation. This paper studies the region tracking control problem of robot manipulator systems modeled by Lagrangian dynamics with uncertain kinematics and dynamics. By introducing a novel sliding mode, an adaptive controller is constructed to make the robot manipulator reach and track a desired dynamic region. Furthermore, a simple yet generic criterion on the region tracking control problem for robot manipulator systems is derived. It is shown that the robot end-effector can be able to reach in the desired dynamic region with the proposed controller in the presence of the uncertain kinematics and dynamics parameters. Based on the investigation, we revisit the region tracking problem with different control methodologies, to gain a brand-new understanding in the region tracking control problem. Finally, simulation results are presented to demonstrate the effectiveness of the theoretical results.

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http://hdl.handle.net/10453/133017