Abstract
A model-free control approach-based solution for the trajectory tracking control problem of an uncertain flat system is presented. The solution was accomplished by solving a nonlinear uncertain second-order flat system. The unknown matching dynamics are identified through a conveniently proposed algebraic estimator or iterated integrator. The non-available states were obtained by applying a high-gain observer. The stability analysis of the closed-loop system, together with the high-gain observer, was accomplished through the Lyapunov method. The effectiveness of the proposed controller was evaluated in a partially known 2-DOF manipulator, having obtained satisfactory results.
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Notes
- 1.
Recall that the output \(y=x_{1}\).
- 2.
For simplicity, the following notation is employed:
$$\begin{aligned} \begin{array}{ccc} s_{2}=\sin q_{2},&c_{2}=\cos q_{2};&s_{12}=\sin (q_{1}+q_{2}). \end{array} \end{aligned}$$.
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Aguilar-Ibanez, C., Suarez-Castanon, M.S., Saldivar, B., Barron-Fernandez, R., Rubio, J. (2022). Model-Free Control to Maneuver an Uncertain 2-DOF Manipulator Robot. In: Moreno, H.A., Carrera, I.G., Ramírez-Mendoza, R.A., Baca, J., Banfield, I.A. (eds) Advances in Automation and Robotics Research. LACAR 2021. Lecture Notes in Networks and Systems, vol 347. Springer, Cham. https://doi.org/10.1007/978-3-030-90033-5_6
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