Indian Journal of Science and Technology
Year: 2017, Volume: 10, Issue: 39, Pages: 1-11
Chakra Othman* and Hajer Bouzaouache
*Author For Correspondence
Tunisia National Engineering School, Laboratory of Research LARA-ENIT; [email protected]
An improved IMC based control approach has been proposed for robot manipulator. This approach can be implemented in a procedure composed of some necessary stages to investigate the robust control of initially unstable plants. The simulation results demonstrate the robustness of the proposed controller even in the case of the presence of strong and nonlinear external disturbances .
Keywords: Internal Model Control, Robot Manipulator, Stabilization, Trajectory Tracking
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