A controller selection mechanism is proposed to solve the tracking problem of robot manipulator when the load shifts unpredictably. A switched system is used to model the manipulator so that the shifting of loads can be captured by the switching signal. When the switching signal of the switched system is unavailable, we design a switching logic for the candidate controllers via constructing a supervisory variable. Asymptotic tracking is achieved when the load change is slow enough. The proposed method is verified by simulation.
WANG Xia
,
WANG Shan
,
TANG Yujun
,
HOU Kuo
,
DONG Jinguo
. Switching tracking controller selection for robot manipulators with unknown shifting load[J]. Journal of Hebei University(Natural Science Edition), 2018
, 38(4)
: 437
-442
.
DOI: 10.3969/j.issn.1000-1565.2018.04.015
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