Robust tracking control of a robot arm actuated by permanent magnet synchronous motors

被引：2
|
作者：
Borisov, Oleg [1 ]
Isidori, Alberto [2 ]
Kakanov, Mikhail [1 ]
Pyrkin, Anton [1 ]
机构：
[1] ITMO Univ, Fac Control Syst & Robot, St Petersburg, Russia
[2] Univ Roma La Sapienza, Dept Comp Control & Management Engn A Ruberti, Rome, Italy
来源：
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2022年 / 32卷 / 18期
关键词：
high-gain observers; practical tracking; robot arms; robust control; DRIVEN; DESIGN;
D O I：
10.1002/rnc.6366
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this article, we show the use of the recently developed enhanced extended observer design technique in tracking time-dependent references by a PMSM-actuated robot arm. It is proven that this robust control framework guarantees achievement of semiglobal practical stability and makes trajectories of the system arbitrarily close to those that would had been obtained by the non-robust nominal feedback-linearizing control if there were no plant uncertainties.
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页码：10358 / 10373
页数：16
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