José de Jesús Rubio, Mario Alberto Hernandez, Eduardo Orozco, Daniel Andres Cordova, Alejandro Zacarias, Jaime Pacheco
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引用次数: 0
Abstract
The model-free controller is a powerful method because it does not require the knowledge of the robotic plant dynamic equation. Since most of the model-free controllers consider variants of the adaptive or reinforcement learning, one observer-based model-free controller could be a different alternative of interest in the researching community. In this study, an observer-based model-free controller is suggested for the perturbations estimation and attenuation in robotic plants, it contains the model-free observer and the model-free controller. The model-free observer based on the high gain method uses the bounds of the perturbations. The model-free controller based on the sliding mode method uses the bounds of the perturbations and gravity terms. The observer-based model-free controller is applied for the perturbations estimation and attenuation in a cylindrical robotic plant, and a scalar robotic plant.
期刊介绍:
Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems.
Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.