Research on Robust Task Space Control Uncertainty Based on Legendre Polynomial

DOI

10.2991/emcm-16.2017.88How to use a DOI?

Keywords

Robust control; Legendre polynomials; Sure border; Voltage control strategy

Abstract

Usually, the uncertainty bound is needed to design the control law in conventional robust control approaches. However, the proposed bound may increase the amplitude of the control signal and damage the system. To solve this problem, a robust control law is proposed in this paper. The uncertainty bound of the proposed control law is calculated by Legendre polynomials. Compared to conventional robust controllers, the proposed controller is simpler, less computational and requires less feedbacks. By a SCARA robot manipulator control law proposed simulation, the simulation results verify the effectiveness of the proposed control approach.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Xinwen Bi
AU  - Zeliang Zhang
AU  - Ming Ma
PY  - 2017/02
DA  - 2017/02
TI  - Research on Robust Task Space Control Uncertainty Based on Legendre Polynomial
BT  - Proceedings of the 2016 7th International Conference on Education, Management, Computer and Medicine (EMCM 2016)
PB  - Atlantis Press
SN  - 2352-538X
UR  - https://doi.org/10.2991/emcm-16.2017.88
DO  - 10.2991/emcm-16.2017.88
ID  - Bi2017/02
ER  -