EE 7280 Project # 1 (Part A)
Intelligent Control of Robotic Systems: Nominal Nonlinear Controller Design
Read Sections 3.2 and 3.3 of the book by Lewis et al. [1] as well as the paper by Vemuri and
Polycarpou [2]. Consider the robotic manipulator described by eq. (1) in [2] (or equivalently eq.
(3.2.1) in [1]). The manipulator parameters are given in Table 1 of [2]. Develop Matlab/Simulink
model to implement the nominal controller described by eq. (3) in [2] . Let the reference signal for
the two joint angles (in radians) be
qd = ” 00::2 cos( 2 sin(2266ππtt)) # :
In your report, include the following:
• All details of your controller design.
• Simulation results for the nominal system (i.e., F( _ q) = 0 and τd(t) = 0).
• Simulation results in the presence of the modeling uncertainty given by
F = ” 0 0: :45 _ 45 _ q q1 2 #
τd = ” 0 0: :4 sin(30 4 sin(30t t) ) # ;
• Discussions on the controller performance.
References
[1] F. L. Lewis, S. Jagannathan, and A. Yesildirek. Neural Network Control of Robot Manipulators
and Nonlinear Systems. Taylor Francis, Padstow, UK, 1999.
[2] A. T. Vemuri and M. M. Polycarpou. Neural network based fault detection in robotic manipulators. IEEE Transactions on Robotics and Automation, 14(2):342{348, 1998.
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