TY - GEN
T1 - Model-Free Control to Maneuver an Uncertain 2-DOF Manipulator Robot
AU - Aguilar-Ibanez, Carlos
AU - Suarez-Castanon, Miguel S.
AU - Saldivar, Belem
AU - Barron-Fernandez, Ricardo
AU - Rubio, Jose
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - A model-free control approach-based solution for the trajectory tracking control problem of an uncertain flat system is presented. The solution was accomplished by solving a nonlinear uncertain second-order flat system. The unknown matching dynamics are identified through a conveniently proposed algebraic estimator or iterated integrator. The non-available states were obtained by applying a high-gain observer. The stability analysis of the closed-loop system, together with the high-gain observer, was accomplished through the Lyapunov method. The effectiveness of the proposed controller was evaluated in a partially known 2-DOF manipulator, having obtained satisfactory results.
AB - A model-free control approach-based solution for the trajectory tracking control problem of an uncertain flat system is presented. The solution was accomplished by solving a nonlinear uncertain second-order flat system. The unknown matching dynamics are identified through a conveniently proposed algebraic estimator or iterated integrator. The non-available states were obtained by applying a high-gain observer. The stability analysis of the closed-loop system, together with the high-gain observer, was accomplished through the Lyapunov method. The effectiveness of the proposed controller was evaluated in a partially known 2-DOF manipulator, having obtained satisfactory results.
UR - http://www.scopus.com/inward/record.url?scp=85121593468&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-90033-5_6
DO - 10.1007/978-3-030-90033-5_6
M3 - Contribución a la conferencia
AN - SCOPUS:85121593468
SN - 9783030900328
T3 - Lecture Notes in Networks and Systems
SP - 43
EP - 53
BT - Advances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021
A2 - Moreno, Héctor A.
A2 - Carrera, Isela G.
A2 - Ramírez-Mendoza, Ricardo A.
A2 - Baca, José
A2 - Banfield, Ilka A.
PB - Springer Science and Business Media Deutschland GmbH
T2 - 3rd Latin American Congress on Automation and Robotics, LACAR 2021
Y2 - 17 November 2021 through 19 November 2021
ER -