Skip to main content

Research Repository

Advanced Search

Disturbance-observer-based robust control of a Serial-link robotic manipulator using SMC and PBC techniques

Ajwad, Syed Ali; Iqbal, Jamshed; Khan, Abdul Attayyab; Mehmood, Adeel

Authors

Syed Ali Ajwad

Abdul Attayyab Khan

Adeel Mehmood



Abstract

Robotic manipulators deployed in automation industry require high speed with precision and accuracy to perform sophisticated control tasks. Whereas, the factors like highly coupled dynamics, internal and external perturbation forces, joint friction and parameter variations degrade the performance of the manipulator. Consequently, the need of an advanced control technique or more preferably combination of multiple techniques with the capability of handling disturbances has been increased significantly. In the present research, design of Disturbance Observer (DO) based control techniques for a 6-Degree Of Freedom (DOF) robotic arm is presented to eliminate the effect of uncertainties and disturbances and to enhance the robustness of both Sliding Mode Control (SMC) and Passivity Based Control (PBC). Results demonstrate that the proposed controllers precisely estimate the torque yielded by external perturbation forces and improve the trajectory tracking performance of the system, which results in comparatively high performance of robotic manipulator in terms of speed and precision.

Citation

Ajwad, S. A., Iqbal, J., Khan, A. A., & Mehmood, A. (2015). Disturbance-observer-based robust control of a Serial-link robotic manipulator using SMC and PBC techniques. Studies in Informatics and Control, 24(4), 401-408. https://doi.org/10.24846/v24i4y201504

Journal Article Type Article
Acceptance Date Dec 1, 2014
Publication Date Jan 1, 2015
Deposit Date Sep 14, 2021
Publicly Available Date Mar 28, 2024
Journal Studies in Informatics and Control
Print ISSN 1220-1776
Electronic ISSN 1841-429X
Peer Reviewed Peer Reviewed
Volume 24
Issue 4
Pages 401-408
DOI https://doi.org/10.24846/v24i4y201504
Keywords Robot control; Robotic manipulator; Non-linear control; Industrial robot
Public URL https://hull-repository.worktribe.com/output/3797098

Files

Published article (292 Kb)
PDF

Copyright Statement
© Copyright 2021 Studies in Informatics and Control, All Rights Reserved





You might also like



Downloadable Citations