ROBUST NONLINEAR CONTROL OF ROBOT MANIPULATORS

∞ robust control strategy (Park, 1999) and the adaptive control scheme (Ting et al., 1999) have been studied as the examples of task space based control. However, there have been still some weak points in the previous researches; the linearized model based approach[r]

investigation many perspective tasks can occur such that synthesis of control systems with special requirements, design of optimal control and many others. 5. Acknowledgment I am heartily thankful to my supervisor, Beisenbi Mamirbek, whose encouragement, guidance and supp[r]

dynamic systems, Automatica, Vol. 38, pp. 335-341. Jafarov, E. M. (2009). Variable Structure Control and Time-Delay Systems, Prof. Nikos Mastorakis (Ed.), 330 pages, A Series of Reference Books and Textbooks, WSEAS Press, ISBN: 978-960-474-050-5. Shyu, K. K. & Yan, J. J. (1993)[r]

Robotic technology has grown beyond the boundaries of imagination during recent decades. Nowadays, it’s not very surprising to see that a robot can hear, see and even talk and a servant robot is not a dream anymore. But now we confront newer challenges such as nano-robots, surgi[r]

membership functions. Based on the T-S fuzzy model, recently, various fuzzy controllers have been developed under the so-called parallel-distributed compensation (PDC) scheme (in which each control rule is distributively designed for the corresponding rule of a T-S fuzzy model) and hav[r]

control approach known today as Model Predictive Control (MPC) originated in the processcontrol community, and was driven much more by industrial application than by theoret-ical understanding. Modern theoretical understanding of MPC, much of which developedthroughout the[r]

txutxItxtxHytwtxJtxutxGtxfx=+=++=& 6. References Bar-Kana, I. (1989), Absolute Stability and Robust Discrete Adaptive Control of Multivariable Systems, Control and Dynamic Systems, pp. 157-183, Vol. 31. Chantranuwathana, S. & Peng, H. (1999), Adaptive R[r]

lators in space, underwater, and hazardous material handling have led toconsiderable activity in the following research areas:• Contact Force Control (CFC) and compliant motion control• Redundant manipulators and Redundancy Resolution (RR)• Adaptive and robust controlPosi[r]

2 Application of Neural Networks to Modeling and Control of Parallel Manipulators Ahmet Akbas Marmara University Turkey 1. Introduction There are mainly two types of the manipulators: serial manipulators and parallel manipulators. The serial