@inproceedings{95643070c6754b4ca85f9b18f7f212e7,
title = "USDE-Based Approximation-Free Control for Robot System with Prescribed Performance",
abstract = "This paper presents an unknown system dynamics estimator (USDE)-based approximation-free control strategy for robot system with prescribed performance. A prescribed performance function and associated error conversion mechanism is employed to guarantee the transient and steady-state error of robot system. Moreover, the USDE is constructed by a first-order low-pass filter operation with only one turning parameter, and then introducing to approximation-free control design to compensate the modeling uncertainties and unknown dynamics to further improve the tracking performance and reduce the controller complexity. The stability of closed-loop system is proved by Lyapunov and initial value theory. Simulations are carried out to validate the effectiveness of the proposed scheme based on a SCARA robot.",
keywords = "Approximation-Free control, Estimator, Prescribed Performance, Robot system",
author = "Chao Zhang and Xuemei Ren and Dongdong Zheng",
note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 11th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2022 ; Conference date: 03-08-2022 Through 05-08-2022",
year = "2022",
doi = "10.1109/DDCLS55054.2022.9858403",
language = "English",
series = "Proceedings of 2022 IEEE 11th Data Driven Control and Learning Systems Conference, DDCLS 2022",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "870--875",
editor = "Mingxuan Sun and Zengqiang Chen",
booktitle = "Proceedings of 2022 IEEE 11th Data Driven Control and Learning Systems Conference, DDCLS 2022",
address = "United States",
}