Abstract
A new trajectory tracking control method based on the U-model is proposed to improve the trajectory tacking speed of robot manipulators. The U-model method is introduced to relieve the requirement of the dynamic mathematical model and make the design of trajectory tracking controller of robot manipulators simpler. To further improve the trajectory tacking speed, an improved iterative learning control algorithm is used to suppress the influence of the initial state error with less computation time. Experimental results show that the proposed control method is effective and practical for the trajectory tracking control of robot manipulators, especially with a high real-time requirement.
Highlights
Nowadays, most robot manipulators need to possess the capacity of accurate and fast trajectory tracking
Trajectory tracking control is a key issue in the field of robot manipulator motion planning [1,2,3]
There are two main ways to analyze and design the trajectory tracking control for robot manipulator [5]. e first one is with respect to a classical linear control method [6, 7]. is way is easy, and some classical control theory and methods can be used directly in some nonlinear properties which are approximated into a linear relationship or neglected
Summary
Most robot manipulators need to possess the capacity of accurate and fast trajectory tracking. Jin [14] proposed a new iterative learning control method which can track the nonrepetitive motion trajectory without assuming that the initial state error of the system is unchanged. If there is a way to combine the benefits of the classical linear and the nonlinear control methods, the analysis and design of trajectory tracking control can be easier and the speed and accuracy of trajectory tracking control may be improved as well. U-Model belongs to a generic systematic approach, which converts the nonlinear polynomial model into a controller output-based time-varying polynomial model [19,20,21,22,23] Inspired by this idea, the U-model theory is introduced into the trajectory tracking control, which can help understand the inner structure and parameters of the robot manipulator better and reduce the structure complexity of control system.
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