Model Mismatch with Centralized Control (FBL)
Please refer to the report.
Regulation
- Nominal case
- Model Mismatch case
Trajectory Tracking
- Nominal case
- Model Mismatch case
Experiments can be performed using the exp_main.m MATLAB file.
Many parameters can be individually chosen, e.g. dynamic params of the 2R manipulator, controllers gains, etc.
Moreover, available controllers in the lib_ctrl directory are:
- Feedback Linearization Control (FBL)
- Proportional-Derivative Control (PD)
- Pole Placement Control (PP)
- Pole Placement Control + Disturbance rejection (PP_ER)
- Pole Placement + Sliding Mode Control (PP_SMC)
- LQR (LQR)
- J.Y.S. Luh, "Conventional controller design for industrial robots — A tutorial", IEEE Trans. on Systems, Man and Cybernetics, vol. 13, no. 3, pp. 298-316, 1983.
- T.C.S. Hsia, T.A. Lasky, and Z. Guo, "Robust independent joint controller design for industrial robot manipulators", IEEE Trans. on Industrial Electronics, vol. 38, no. 1, pp. 21-25, 1991.
- "Motion Control", Chapter 8 in Springer Handbook of Robotics, 2012.
- "Robotics: Modelling, Planning and Control", Chapters 5 and 8, 2009.
- M. Noh Ahmad, J. H. S. Osman and M. Ruddin A Ghani, "A decentralized proportional-integral sliding mode tracking controller for robot manipulators," 2002 IEEE Region 10 Conference on Computers, Communications, Control and Power Engineering. TENCOM '02. Proceedings., Beijing, China, 2002, pp. 1314-1317 vol.3, doi: 10.1109/TENCON.2002.1182568.
- Ouyang P. R., Acob J., Pano V., PD with sliding mode control for trajectory tracking of robotic system, Robotics and Computer-Integrated Manufacturing, 2014, 30(2), pp. 189-200.
- Kara, Tolgay & Mary, Ali. (2017). Adaptive PD-SMC for Nonlinear Robotic Manipulator Tracking Control. Studies in Informatics and Control. 26. 49-58. 10.24846/v26i1y201706.
- Rocco P., Decentralized control lesson, Control of industrial robots, Politecnico di Milano, 2020.