e-ISSN 2231-8542
ISSN 1511-3701

Home / Regular Issue / JTAS Vol. 27 (3) Jul. 2019 / JST-1076-2018


An Intelligent Tracking Control Scheme for Electrically-Driven Redundant Robots

Manju Rani and Naveen Kumar

Pertanika Journal of Tropical Agricultural Science, Volume 27, Issue 3, July 2019

Keywords: Actuator dynamics, lyapunov stability, radial basis function neural network, redundant manipulators, subtask tracking

Published on: 24 July 2019

This paper deals with the trajectory tracking control problem for electrically driven redundant robot manipulators. By combining actuator dynamics with manipulator's kinematics and dynamics, a novel control scheme is proposed for the electromechanical system. In this electromechanical system, the controller is designed at the dynamic level as well as at the actuator level. In the proposed control scheme, uncertain non-linear mechanical dynamics is approximated with the model-based controller combined with the model-free radial basis function neural network based controller together with adaptive bound. The behaviour of the uncertain electrical dynamics is approximated with the help of a radial basis function neural network. The designed controller achieves both the trajectory tracking and the subtask tracking effectively. Additionally, the designed control scheme controls the direct current motors being used to provide the desired currents and torques. The errors are shown to be asymptotically converging and the control scheme is shown to be stable using Lyapunov stability theory. Finally, the simulation results are produced for the rigid link electrically driven redundant robot manipulators to show the effectiveness of the proposed control scheme.

ISSN 1511-3701

e-ISSN 2231-8542

Article ID


Download Full Article PDF

Share this article

Recent Articles