White Paper: Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators
We address the problem of robust tracking control using a PD-plus-feed forward controller and an intelligent adaptive robust compensator for a rigid robotic manipulator with uncertain dynamics and external disturbances. A key feature of this scheme is that soft computer methods are used to learn the upper bound of system uncertainties and adjust the width of the boundary layer base.
In this note, motivated by the PD-plus-feedforward control idea and Man’s work, a new intelligent adaptive robust control scheme is proposed for robot manipulators with model uncertainties and external disturbance. The novel control scheme proposed in this paper contains a PD plus-feedforward part and an intelligent robust compensational part.
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2012 Salary Survey
In a year when manufacturing continued to lead the economic rebound, it makes sense that plant manager bonuses rebounded. Plant Engineering’s annual Salary Survey shows both wages and bonuses rose in 2012 after a retreat the year before.
Average salary across all job titles for plant floor management rose 3.5% to $95,446, and bonus compensation jumped to $15,162, a 4.2% increase from the 2010 level and double the 2011 total, which showed a sharp drop in bonus.