Improved Internal Model based Structure for the Robot Control

Chakra Othman  and Hajer Bouzaouache

doi:10.17485/ijst/2017/v10i39/119875

Article

Improved Internal Model based Structure for the Robot Control

VIEWS 800
PDF 259

Abstract
Full-Text HTML
Full-Text PDF
How to Cite

Indian Journal of Science and Technology

DOI: 10.17485/ijst/2017/v10i39/119875

Year: 2017, Volume: 10, Issue: 39, Pages: 1-11

Original Article

Improved Internal Model based Structure for the Robot Control

Chakra Othman^* and Hajer Bouzaouache

Tunisia National Engineering School, Laboratory of Research LARA-ENIT; [email protected], [email protected]

*Author For Correspondence
Chakra Othman
Tunisia National Engineering School, Laboratory of Research LARA-ENIT; [email protected]

This work is licensed under a Creative Commons Attribution 4.0 International License.

Abstract

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