Track trajectories with model uncertainty using a robust differentiator
In this article, we present the Levant’s Robust Differentiator applied to robot manipulators whose objective is to follow a desired trajectory. The robots’ dynamic model is unknown. The velocity obtained using the Robust Differentiator is applied in the control structure in order to fulfill the trac...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | Spanish |
| Published: |
Universitat Politècnica de València
2019-09-01
|
| Series: | Revista Iberoamericana de Automática e Informática Industrial RIAI |
| Subjects: | |
| Online Access: | https://polipapers.upv.es/index.php/RIAI/article/view/10265 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1846146474951311360 |
|---|---|
| author | P. Sánchez-Sánchez A. Gutiérrez–Giles J. Pliego–Jiménez M.A. Arteaga–Pérez |
| author_facet | P. Sánchez-Sánchez A. Gutiérrez–Giles J. Pliego–Jiménez M.A. Arteaga–Pérez |
| author_sort | P. Sánchez-Sánchez |
| collection | DOAJ |
| description | In this article, we present the Levant’s Robust Differentiator applied to robot manipulators whose objective is to follow a desired trajectory. The robots’ dynamic model is unknown. The velocity obtained using the Robust Differentiator is applied in the control structure in order to fulfill the tracking task. A comparative study is made between the Levant’s Robust Differentiator and the most-used techniques to calculate the velocity. Experimental results are presented. |
| format | Article |
| id | doaj-art-c002e63f1be5425597f6945bacab254c |
| institution | Kabale University |
| issn | 1697-7912 1697-7920 |
| language | Spanish |
| publishDate | 2019-09-01 |
| publisher | Universitat Politècnica de València |
| record_format | Article |
| series | Revista Iberoamericana de Automática e Informática Industrial RIAI |
| spelling | doaj-art-c002e63f1be5425597f6945bacab254c2024-12-02T03:13:27ZspaUniversitat Politècnica de ValènciaRevista Iberoamericana de Automática e Informática Industrial RIAI1697-79121697-79202019-09-0116442343410.4995/riai.2019.102657472Track trajectories with model uncertainty using a robust differentiatorP. Sánchez-Sánchez0A. Gutiérrez–Giles1J. Pliego–Jiménez2M.A. Arteaga–Pérez3Benemérita Universidad Autónoma de PueblaUniversity of Naples Federico IICONACYT–CICESE, Departamento de Electrónica y TelecomunicacionesUniversidad Nacional Autónoma de MéxicoIn this article, we present the Levant’s Robust Differentiator applied to robot manipulators whose objective is to follow a desired trajectory. The robots’ dynamic model is unknown. The velocity obtained using the Robust Differentiator is applied in the control structure in order to fulfill the tracking task. A comparative study is made between the Levant’s Robust Differentiator and the most-used techniques to calculate the velocity. Experimental results are presented.https://polipapers.upv.es/index.php/RIAI/article/view/10265índice de desempeñocontroldinámica de robotsplanificación y seguimiento de trayectoriasrobots manipuladoresdiferenciador robusto |
| spellingShingle | P. Sánchez-Sánchez A. Gutiérrez–Giles J. Pliego–Jiménez M.A. Arteaga–Pérez Track trajectories with model uncertainty using a robust differentiator Revista Iberoamericana de Automática e Informática Industrial RIAI índice de desempeño control dinámica de robots planificación y seguimiento de trayectorias robots manipuladores diferenciador robusto |
| title | Track trajectories with model uncertainty using a robust differentiator |
| title_full | Track trajectories with model uncertainty using a robust differentiator |
| title_fullStr | Track trajectories with model uncertainty using a robust differentiator |
| title_full_unstemmed | Track trajectories with model uncertainty using a robust differentiator |
| title_short | Track trajectories with model uncertainty using a robust differentiator |
| title_sort | track trajectories with model uncertainty using a robust differentiator |
| topic | índice de desempeño control dinámica de robots planificación y seguimiento de trayectorias robots manipuladores diferenciador robusto |
| url | https://polipapers.upv.es/index.php/RIAI/article/view/10265 |
| work_keys_str_mv | AT psanchezsanchez tracktrajectorieswithmodeluncertaintyusingarobustdifferentiator AT agutierrezgiles tracktrajectorieswithmodeluncertaintyusingarobustdifferentiator AT jpliegojimenez tracktrajectorieswithmodeluncertaintyusingarobustdifferentiator AT maarteagaperez tracktrajectorieswithmodeluncertaintyusingarobustdifferentiator |