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Title: :  ON THE FEEDBACK-FEEDFORWARD CONTROL FOR ROBOT MANIPULATOR USED DISTURBANCE ESTIMATOR
PaperId: :  20999
Published in:   International Journal Of Advance Research And Innovative Ideas In Education
Publisher:   IJARIIE
e-ISSN:   2395-4396
Volume/Issue:    Volume 9 Issue 3 2023
DUI:    16.0415/IJARIIE-20999
Licence: :   IJARIIE is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

Author NameAuthor Institute
Nguyen Nam TrungThai Nguyen University of Technology, Thai Nguyen city, Viet Nam

Abstract

Technology
Iterative methods; robotic manipulators; tracking systems
In this paper, the feedback-feedforward controllers combining with the uncertainty and disturbance identifiers is designed for the robot manipulator. That is an iterative learning controller(ILC) proposed to achieve precise tracking control of robotic manipulators over a finite time interval. The learning is done in a feedback configuration and the learning law updated the feedback-feedforward input from the plant input of the previous trials. The designed PD tracking controller for robotic manipulators with the proposed disturbance estimator will be also compared with the learning control process which is applied to the reference tracking control of a two link robot manipulator and good tracking performance is obtained in the simulation.

Citations

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IJARIIE Nguyen Nam Trung. "ON THE FEEDBACK-FEEDFORWARD CONTROL FOR ROBOT MANIPULATOR USED DISTURBANCE ESTIMATOR" International Journal Of Advance Research And Innovative Ideas In Education Volume 9 Issue 3 2023 Page 5076-5082
MLA Nguyen Nam Trung. "ON THE FEEDBACK-FEEDFORWARD CONTROL FOR ROBOT MANIPULATOR USED DISTURBANCE ESTIMATOR." International Journal Of Advance Research And Innovative Ideas In Education 9.3(2023) : 5076-5082.
APA Nguyen Nam Trung. (2023). ON THE FEEDBACK-FEEDFORWARD CONTROL FOR ROBOT MANIPULATOR USED DISTURBANCE ESTIMATOR. International Journal Of Advance Research And Innovative Ideas In Education, 9(3), 5076-5082.
Chicago Nguyen Nam Trung. "ON THE FEEDBACK-FEEDFORWARD CONTROL FOR ROBOT MANIPULATOR USED DISTURBANCE ESTIMATOR." International Journal Of Advance Research And Innovative Ideas In Education 9, no. 3 (2023) : 5076-5082.
Oxford Nguyen Nam Trung. 'ON THE FEEDBACK-FEEDFORWARD CONTROL FOR ROBOT MANIPULATOR USED DISTURBANCE ESTIMATOR', International Journal Of Advance Research And Innovative Ideas In Education, vol. 9, no. 3, 2023, p. 5076-5082. Available from IJARIIE, https://ijariie.com/AdminUploadPdf/ON_THE_FEEDBACK_FEEDFORWARD__CONTROL_FOR_ROBOT_MANIPULATOR_USED_DISTURBANCE_ESTIMATOR_ijariie20999.pdf (Accessed : 25 June 2025).
Harvard Nguyen Nam Trung. (2023) 'ON THE FEEDBACK-FEEDFORWARD CONTROL FOR ROBOT MANIPULATOR USED DISTURBANCE ESTIMATOR', International Journal Of Advance Research And Innovative Ideas In Education, 9(3), pp. 5076-5082IJARIIE [Online]. Available at: https://ijariie.com/AdminUploadPdf/ON_THE_FEEDBACK_FEEDFORWARD__CONTROL_FOR_ROBOT_MANIPULATOR_USED_DISTURBANCE_ESTIMATOR_ijariie20999.pdf (Accessed : 25 June 2025)
IEEE Nguyen Nam Trung, "ON THE FEEDBACK-FEEDFORWARD CONTROL FOR ROBOT MANIPULATOR USED DISTURBANCE ESTIMATOR," International Journal Of Advance Research And Innovative Ideas In Education, vol. 9, no. 3, pp. 5076-5082, May-Jun 2023. [Online]. Available: https://ijariie.com/AdminUploadPdf/ON_THE_FEEDBACK_FEEDFORWARD__CONTROL_FOR_ROBOT_MANIPULATOR_USED_DISTURBANCE_ESTIMATOR_ijariie20999.pdf [Accessed : 25 June 2025].
Turabian Nguyen Nam Trung. "ON THE FEEDBACK-FEEDFORWARD CONTROL FOR ROBOT MANIPULATOR USED DISTURBANCE ESTIMATOR." International Journal Of Advance Research And Innovative Ideas In Education [Online]. volume 9 number 3 (25 June 2025).
Vancouver Nguyen Nam Trung. ON THE FEEDBACK-FEEDFORWARD CONTROL FOR ROBOT MANIPULATOR USED DISTURBANCE ESTIMATOR. International Journal Of Advance Research And Innovative Ideas In Education [Internet]. 2023 [Cited : 25 June 2025]; 9(3) : 5076-5082. Available from: https://ijariie.com/AdminUploadPdf/ON_THE_FEEDBACK_FEEDFORWARD__CONTROL_FOR_ROBOT_MANIPULATOR_USED_DISTURBANCE_ESTIMATOR_ijariie20999.pdf
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