Robust Control of a Master-Slave Manipulator Under Restricted Task-Space

D. Cruz-Ortiz; I. Chairez; A. Poznyak

doi:10.1007/978-3-030-45402-9_23

Robust Control of a Master-Slave Manipulator Under Restricted Task-Space

D. Cruz-Ortiz, I. Chairez, A. Poznyak

Unidad Profesional Interdisciplinaria de Biotecnología (UPIBI)

Research output: Contribution to journal › Article › peer-review

1 Scopus citations

Abstract

The aim of this manuscript is to develop a robust output-based controller for a master-slave robot manipulator (RM), under state constraints. The proposed controller satisfies a regular proportional-derivative (PD) structure with time-varying gains. This controller includes an integral compensation term which is guaranteeing the collision avoidance with possible obstacles placed within the boundaries of the task work-space. The attractive ellipsoid method justifies the design of the control strategy. The solution of a matrix inequality characterizes the zone of convergence and the sub-optimal control gains. A set of numerical simulations based on a two-link RM illustrates the advantages obtained with the proposed method.

Original language	English
Pages (from-to)	240-248
Number of pages	9
Journal	Mechanisms and Machine Science
Volume	86
DOIs	https://doi.org/10.1007/978-3-030-45402-9_23
State	Published - 2020

Keywords

Attractive ellipsoid
Constraint system
Robust control

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10.1007/978-3-030-45402-9_23

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abstract = "The aim of this manuscript is to develop a robust output-based controller for a master-slave robot manipulator (RM), under state constraints. The proposed controller satisfies a regular proportional-derivative (PD) structure with time-varying gains. This controller includes an integral compensation term which is guaranteeing the collision avoidance with possible obstacles placed within the boundaries of the task work-space. The attractive ellipsoid method justifies the design of the control strategy. The solution of a matrix inequality characterizes the zone of convergence and the sub-optimal control gains. A set of numerical simulations based on a two-link RM illustrates the advantages obtained with the proposed method.",

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AU - Cruz-Ortiz, D.

AU - Chairez, I.

AU - Poznyak, A.

PY - 2020

Y1 - 2020

N2 - The aim of this manuscript is to develop a robust output-based controller for a master-slave robot manipulator (RM), under state constraints. The proposed controller satisfies a regular proportional-derivative (PD) structure with time-varying gains. This controller includes an integral compensation term which is guaranteeing the collision avoidance with possible obstacles placed within the boundaries of the task work-space. The attractive ellipsoid method justifies the design of the control strategy. The solution of a matrix inequality characterizes the zone of convergence and the sub-optimal control gains. A set of numerical simulations based on a two-link RM illustrates the advantages obtained with the proposed method.

AB - The aim of this manuscript is to develop a robust output-based controller for a master-slave robot manipulator (RM), under state constraints. The proposed controller satisfies a regular proportional-derivative (PD) structure with time-varying gains. This controller includes an integral compensation term which is guaranteeing the collision avoidance with possible obstacles placed within the boundaries of the task work-space. The attractive ellipsoid method justifies the design of the control strategy. The solution of a matrix inequality characterizes the zone of convergence and the sub-optimal control gains. A set of numerical simulations based on a two-link RM illustrates the advantages obtained with the proposed method.

KW - Attractive ellipsoid

KW - Constraint system

KW - Robust control

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SN - 2211-0984

VL - 86

SP - 240

EP - 248

JO - Mechanisms and Machine Science

JF - Mechanisms and Machine Science

ER -

Robust Control of a Master-Slave Manipulator Under Restricted Task-Space

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Keywords

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