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Cited by 53Adaptive Control of Nonlinear SystemsRobotic Mechanisms and DynamicsDynamics and Control of Mechanical Systems

The DOI matches its Crossref record; 14 of the 14 references it cites were found in a registry or an index.

Disturbance-Observer-Based Robust Control of a Serial-link Robotic Manipulator Using SMC and PBC Techniques

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AJWAD, Syed Ali, IQBAL, Jamshed, KHAN, Abdul Attayyab, MEHMOOD, Adeel·2015·Studies in Informatics and Control
DOI 10.24846/v24i4y201504
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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.

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Research works printed but not linked: 12

  1. [1]1. FLOREA, G., C. LUPU, D. POPESCU, Supervised Solutions for Precise Ratio Control: Applicability in Continuous Production Line, Studies in Informatics and Control, vol. 23(1), 2014, pp. 53-64.
  2. [2]2. IQBAL, J., R. U. ISLAM, R. U., NABI, A. TAHIR, Robotics for Nuclear Power Plants -Challenges and Future Perspectives, International Conference on Applied Robotics for the Power Industry (CARPI), 2012, pp. 151-156.
  3. [3]3. BAHR, B., Y. LI, M. NAJAFI, Design and Suction Cup Analysis of a Wall Climbing Robot, Computers & Electrical Engineering, vol. 22(3), 1996, pp. 193-209.
  4. [4]4. AJWAD, S. A., J. IQBAL, Emerging Trends in Robotics -A Review from Applications Perspective, International Conference on Engineering and Emerging Technologies (ICEET), 2015 (in press).
  5. [5]5. AJWAD, S. A., J. IQBAL, Recent Advances and Applications of Tethered Robotic Systems, Science International, vol. 26, no. 5, 2014, pp. 2045-2051.
  6. [6]6. AJWAD, S. A., K. BAIZID, J. IQBAL, M. I. ULLAH, A Comprehensive State-of- the-Art on Control of Industrial Articulated Eobots, Journal of the Balkan Tribological Association, vol. 20, no. 4, 2014, pp. 499-521.
  7. [7]7. IQBAL, J., R. U. ISLAM, M. F., KHAN, Control Strategies for Robotic Manipulators, IEEE International Conference on Robotics and Artificial Intelligence (ICRAI), 2012, pp. 26-33.
  8. [8]8. MAI, T., Y. WANG, Adaptive Position Tracking Control System based on Recurrent Fuzzy Wavelet Neural Networks for Robot Manipulators, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2014.
  9. [9]9. DING, H., Y. WANG, Z. XIONG, X. ZHU, Nonlinear Friction Compensation and Disturbance Observer for a High- speed Motion Platform, IEEE International Conference on Robotics and Automation (ICRA), 2004, pp. 4515-4520.
  10. [10]10. HE, Z., W. XIE, Improved Disturbance Observer based Control Structure, Chinese Control and Decision Conference, 2009, pp. 1015-1020.
  11. [14]14. IQBAL, J., U. IQBAL, Z. NISSA, A. SAMAD, Embedded Control System for AUTAREP-A Novel AUTonomous Articulated Robotic Educational Platform, Tehnički vjesnik, vol. 21, no. 6, 2014, pp. 1255-1261.
  12. [16]16. AJWAD, S. A., J. IQBAL, R. U. ISLAM, M. I. ULLAH, Modeling Robotic Arms - A Review and Derivation of Screw Theory Based Kinematics, International Conference on Engineering and Emerging Technologies 2014, pp. 98.

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Metadata

Authors
AJWAD, S. A., IQBAL, J., KHAN, A. A., & MEHMOOD, A.
Affiliations
  • COMSATS University Islamabad (PK)
  • National University of Computer and Emerging Sciences (PK)
  • University of Genoa (IT)
ORCID
Venue
Studies in Informatics and Control
Publisher
ICI Bucharest
Published
2015-12-25
Volume
24
Issue
4
ISSN
  • 1220-1766 (ISSN-L)
  • 1841-429X
DOI
10.24846/v24i4y201504
OpenAlex
W2609284057
Cited by
53
References
14
Citations by year
2025: 10 · 2024: 3 · 2023: 6 · 2022: 7 · 2021: 4 · 2020: 2 · 2019: 3 · 2018: 7 · 2017: 7 · 2016: 4
FWCI
5.56
Type
journal article
Language
en
Open access
Locations
  • Studies in Informatics and Control (publishedVersion)
  • Repository@Hull (Worktribe) (University of Hull) (submittedVersion, cc-by)
  • Repository@Hull (Worktribe) (University of Hull) (submittedVersion, other-oa)
Topics
  • Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
  • Physical Sciences › Engineering › Control and Systems Engineering › Robotic Mechanisms and Dynamics
  • Physical Sciences › Engineering › Control and Systems Engineering › Dynamics and Control of Mechanical Systems
Keywords
disturbance observer, sliding mode control, passivity-based control, robust control, disturbance rejection, trajectory tracking, external disturbances, joint friction, parameter variation, 6-DOF robotic arm

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