Global Position-Feedback Tracking Control of Flexible-joint Robots

被引：0
|
作者：
Avila-Becerril, Sofia [1 ]
Loria, Antonio [2 ]
Panteley, Elena [2 ,3 ]
机构：
[1] Univ Nacl Autonoma Mexico, Fac Ingn, Mexico City, DF, Mexico
[2] CNRS, LSS CENT SUPELEC, 3 Rue Joliot Curie, F-91192 Gif Sur Yvette, France
[3] ITMO Univ, Kronverkskiy Av 49, St Petersburg 197101, Russia
来源：
2016 AMERICAN CONTROL CONFERENCE (ACC) | 2016年
关键词：
MANIPULATORS; SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We solve the open problem of global tracking control of 2nd-degree under-actuated lossless (without friction) Lagrangian systems via position measurements only. For flexible-joint robots, we design a dynamic controller which is based on measurements of link and joint positions only. Then, approximate differentiation is used for link velocities and a simple Luenberger observer for rotor velocities. The main results constitute a significant extension of recent work on observerless output-feedback control of Lagrangian systems. Strictly speaking, we establish uniform global asymptotic stability for the closed loop system.
引用
收藏
页码：3008 / 3013
页数：6
相关论文
共 50 条
  • [41] Adaptive Fuzzy Tracking Control for Flexible-Joint Robots with Random Disturbances and Unknown Measurement Sensitivity
    Dong, Huixuan
    Sun, Wei
    Zhu, Chenglong
    INTERNATIONAL JOURNAL OF FUZZY SYSTEMS, 2025,
  • [42] Robust control of flexible-joint robots using voltage control strategy
    Mohammad Mehdi Fateh
    Nonlinear Dynamics, 2012, 67 : 1525 - 1537
  • [43] Desingularization of Flexible-Joint Parallel Robots
    Ozdemir, Mustafa
    Ider, Sitki Kemal
    ACTA POLYTECHNICA HUNGARICA, 2021, 18 (06) : 85 - 106
  • [44] Decentralized Direct Adaptive Fuzzy Control for Flexible-Joint Robots
    Fateh, Mohammad Mehdi
    Souzanchikashani, Mahdi
    CONTROL ENGINEERING AND APPLIED INFORMATICS, 2013, 15 (04): : 97 - 105
  • [45] Dynamics simulation of flexible-joint robots
    Mechanics and Electronics Department, Nanjing College of Information Technology, Nanjing 210046, China
    不详
    Xitong Fangzhen Xuebao, 2008, 10 (2550-2552):
  • [46] Robust control of flexible-joint robots using voltage control strategy
    Fateh, Mohammad Mehdi
    NONLINEAR DYNAMICS, 2012, 67 (02) : 1525 - 1537
  • [47] ADAPTIVE-CONTROL OF FLEXIBLE JOINT ROBOTS USING POSITION AND VELOCITY FEEDBACK
    MRAD, FT
    AHMAD, S
    INTERNATIONAL JOURNAL OF CONTROL, 1992, 55 (05) : 1255 - 1277
  • [48] Singular perturbation method in control of multiple flexible-joint robots
    Dai, JH
    Gu, E
    INTELLIGENT AUTOMATION AND SOFT COMPUTING, 2003, 9 (02): : 121 - 128
  • [49] An adaptive link position tracking controller for rigid-link flexible-joint robots without velocity measurements
    Lim, SY
    Dawson, DM
    Hu, J
    deQueiroz, MS
    IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 1997, 27 (03): : 412 - 427
  • [50] AN APPROACH TO DISCRETE INVERSE DYNAMICS CONTROL OF FLEXIBLE-JOINT ROBOTS
    JANKOWSKI, KP
    VANBRUSSEL, H
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1992, 8 (05): : 651 - 658
12345