期刊名称：International Journal of Mechatronics, Electrical and Computer Technology
印刷版ISSN：2305-0543
出版年度：2014
卷号：4
期号：10
页码：1152-1168
出版社：Austrian E-Journals of Universal Scientific Organization
摘要：This paper presents an application of the recently proposed robust integral of the sign of the error (RISE) feedback control scheme for a three degrees-of-freedom (DOF) robot manipulator tracking problem. This method compensates for nonlinear disturbances and uncertainties in the dynamic model, and results in asymptotic trajectory tracking. To avoid selecting the parameters of the RISE controller by time-consuming trial and error method, particle swarm optimization (PSO) algorithm is employed as an intelligent technique. The objective of the PSO algorithm is to find the set of parameters that minimizes the mean of root squared error as its fitness function. The proposed method attains tracking goal, without any chattering in control input. Indeed, the existence of a unique integral sign term in the RISE controller avoids the occurrence of chattering phenomenon that usually happens in sliding mode controllers. Numerical simulations demonstrate the effectiveness of the proposed control scheme.
关键词：Robust integral of the sign of the error (RISE); Asymptotic tracking; 3degrees-of-freedom robot manipulator; particle swarm optimization (PSO).
