Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/58676
Title: Robust control of robotic manipulators with model-based precompensation and SMC postcompensation
Authors: Hong, G.S. 
Zhu, H.A.
Teo, C.L. 
Poo, A.N. 
Issue Date: 1993
Source: Hong, G.S.,Zhu, H.A.,Teo, C.L.,Poo, A.N. (1993). Robust control of robotic manipulators with model-based precompensation and SMC postcompensation. Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering 207 (2) : 97-103. ScholarBank@NUS Repository.
Abstract: Robust and reliable control of robotic manipulators is studied. A model-based precompensation configuration is first used to decouple and linearize the highly complicated electromechanical dynamics of robotic manipulators. Then a linear state-feedback control law is used for closed-loop control. Finally, simplified SMC is adopted to postcompensate for the resulting error dynamics of the closed-loop control system. It is shown that the intentionally introduced control redundancy will not only ensure global high performance for the resulting system, but will also provide the system with built-in high reliability.
Source Title: Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering
URI: http://scholarbank.nus.edu.sg/handle/10635/58676
ISSN: 09596518
Appears in Collections:Staff Publications

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