Research on Robust Task Space Control Uncertainty Based on Legendre Polynomial
Xinwen Bi, Zeliang Zhang, Ming Ma
Available Online February 2017.
- https://doi.org/10.2991/emcm-16.2017.88How to use a DOI?
- Robust control; Legendre polynomials; Sure border; Voltage control strategy
- 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.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
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 - 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 - https://doi.org/10.2991/emcm-16.2017.88 ID - Bi2017/02 ER -