The development of modern industries calls for the
robotic manipulators with high speed and accurate tracking
performance. Many authors have paid attention to robust
control of robotic manipulators; however, only few authors
have also considered the control problem of manipulators
with power limitation.
In this dissertation, the robotic manipulator is
modeled as an uncertain system, with such uncertainties as
varying moments of inertia, damping and payloads during
tracking. The resulting uncertain part of the system is
norm-bounded by a known constant.
The total control consists of a linear part with gain
matrix K, and a nonlinear part Δv, typically used for
control of uncertain dynamical systems. Saturation of the
resulting controller is assumed, with bounds imposed by the
power limitation of actuators. It is proved at the
dissertation that such a system is globally uniformly
practically stable. The distribution of the control power
between two controllers is discussed. It is found that when
small gain matrix K is used and Δv dominates the controller,
the solution to the system can approach a smaller region
with faster response; that is, higher tracking accuracy is
obtained.
Theoretical analysis is provided to support the
proposed control scheme. A two-link robotic manipulator is
simulated with the results confirming the prediction. / Graduation date: 1992
| Identifer | oai:union.ndltd.org:ORGSU/oai:ir.library.oregonstate.edu:1957/36523 |
| Date | 20 November 1991 |
| Creators | Liang, Zuyang |
| Contributors | Olas, Andrzej |
| Source Sets | Oregon State University |
| Language | en_US |
| Detected Language | English |
| Type | Thesis/Dissertation |
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