Aug 2026· 2026 IEEE International Conference on Mechatronics and Automation (ICMA)· pp. 359-364· 0 citations· 19 references
Abstract
This paper investigates trajectory tracking of a 3-DOF serial manipulator under external disturbances, parameter uncertainties, and nonlinear friction. A model-based adaptive anti-disturbance controller is developed based on nominal dynamics compensation to improve tracking accuracy and robustness. A prescribed performance control (PPC) mechanism is further embedded into the controller design to explicitly constrain tracking errors. To provide a stronger comparison, both conventional PID control and sliding-mode control (SMC) are adopted as baselines. In addition, an LNN-CTC-style residual compensation scheme is explored as an extended study. Simulation results show that the proposed method achieves smaller tracking errors than PID and SMC while satisfying predefined performance constraints under the same actuator limits.
A new control scheme is presented in this work for robotic manipulators with model inaccuracies and external disturbances. The strategy is designed in two stages. First, a nonlinear controller is designed on the basis of the nominal system model to satisfy prescribed trajectory-tracking constraints. This controller is...
Xiao-Ying Ye, Hao You, Hong Ge et al.· International Conference on...· 0 citations
In this article, the attitude tracking control is investigated for a two-degree-of-freedom (2-DOF) pneumatic parallel mechanism subject to input saturation and unknown disturbances. First, joint estimation of unknown dynamics and disturbances is achieved by integrating a radial basis function (RBF) neural network into...
Yi-Peng Cao, Li Li, Chang-Chun Hua et al.· IEEE Transactions on Cyberne...· 0 citations
In this paper, we consider uncertain high-order nonlinear systems performing dynamic tracking tasks under hard actuator constraints, where only the output error is available for measurement, while the system states and the desired trajectory derivatives are unavailable for feedback. We propose a robust output-feedback...
Panagiotis S. Trakas, Charalampos P. Bechlioulis· 0 citations
This paper investigates safe trajectory tracking for fully actuated autonomous underwater vehicles under composite disturbances. A deeply coupled disturbance model is first derived to characterize the effects of hydrodynamic uncertainties, environmental disturbances, and actuator disturbances. An adaptive radial basis...
Li-Yao Zhang, Hao Teng, Peng-Wei Hu et al.· International Conference on...· 0 citations
Three adaptive global tracking controllers for fully actuated Euler-Lagrange systems, with verifiable performance improvement over existing designs, are reported in this letter. Two of these controllers ensure global exponential convergence under a weak interval excitation condition. Besides, one of the proposed contro...
L. Cervantes-Pérez, José Guadalupe Romero, Romeo Ortega et al.· 0 citations
This paper presents an observer-based sliding-mode tracking control strategy for connected nonlinear servo systems with unknown disturbances. A distributed state observer is designed for each follower to estimate the leader state in finite time, since the leader information is not directly accessible to all followers....
Song-Bai Zhu, Meng Li, Yong Chen et al.· Transactions of the Institut...· 0 citations
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