シャ　キンカ   Jinhua She   佘　錦華    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2013/11
形態種別	学術論文
査読	査読あり
標題	Robust tracking control of robot manipulators using only joint position measurements
執筆形態	共著
掲載誌名	Mathematical Problems in Engineering
出版社・発行元	Hindawi Publishing Corporation
巻・号・頁	2013,pp.719474-1-719474-9
担当範囲	All
著者・共著者	Ancai Zhang, Jinhua She, Xuzhi Lai, Min Wu, Jianlong Qiu, and Xiangyong Chen
概要	This paper concerns the tracking control of a robot manipulator with unknown uncertainties and disturbances. It presents a new control method that uses only joint position measurements to design a tracking controller. The controller has two parts. One is based on a feedback linearization technique; itmakes the nominal model of a manipulator asymptotically track a desired trajectory. The other is based on the idea of equivalent input disturbance (EID); it compensates for uncertainties and disturbances. Together they enable a robot manipulator to precisely track the desired trajectory.The new control algorithm is applied to a two-link robot manipulator, and simulation results demonstrate the validity of this method.
DOI	DOI: 10.1155/2013/719474