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Hamed Jabbari Asl Tatsuo Narikiyo Michihiro Kawanishi 《Journal of The Franklin Institute》2019,356(13):7144-7163
In this study, we addressed the problem of design of high-performance tracking controller for uncertain systems described by the Euler–Lagrange formulation. The main objective was to combine the advantages of the robust integral of the sign of the error (RISE) controller with those of the prescribed performance (PP) controller. In particular, we aimed to obtain asymptotic tracking for the uncertain systems through a continuous control command while ensuring the transient performance. Two controllers were developed. First, the PP property was injected into the RISE controller assuming no constraint on the actuation amplitude existed, and then this property was incorporated into the saturated RISE controller. The performance of the proposed controllers was validated through experimental and simulation tests. 相似文献
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Michihiro Hayashi Hiroshi Tachiya Naoki Asakawa Takuya Kawamura 《Journal of The Franklin Institute》2011,348(1):101-111
This study proposed a method for suppressing torques and consumed energy of manipulators considering an effect of inertial forces in order to achieve power-saved drive. The present paper describes the case that the start and end points of a work path of a manipulator are specified and the path between the points can be determined arbitrarily, which is so-called point-to-point (PTP) control. The proposed method determines both the initial pose of a manipulator and input motions of its joints so that the torque or consumed energy is suppressed. The input motion of the joint is expressed by a motion curve that indicates the time profiles of input displacements, velocities and accelerations. The proposed method determines the motion curve as a polynomial with appropriate coefficients. Those coefficients and their values are decided by a heuristic algorithm in order to suppress the input torques or consumed energy of a manipulator. The paper actually determines the power-saved drive motion of “PUMA560” by the proposed method and reveals its effectiveness. 相似文献
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