A dynamical linearizing feedback controller for robots with flexible joint

Author

De León-Morales, Jesús ; Alvarez-Leal, José G. ; Martinez-Guerra, Rafael

Author_Institution

Fac. de Ingenieria Mecanica y Electrica, Univ. Autonoma de Nuevo Leon, San Nicolas de Los Garza, Mexico

fYear

1997

fDate

5-7 Oct 1997

Firstpage

306

Lastpage

311

Abstract

Techniques of differential algebra are used to derive an observer-based controller applied to a flexible manipulator. A dynamical linearizing feedback controller is derived on the basis of Fliess generalized observability canonical form (GOCF). Our controller actually achieves both stability and tracking by linearising the tracking error. The controller is then of error-driven type; the dynamics of the error are estimated by an observer in the closed-loop. An analysis of the stability of the closed-loop system is given. Simulation results are presented for illustrating the performance of this observed based controller scheme, when it is applied to a mathematical model of a robot with flexible joints

Keywords

algebra; closed loop systems; control system analysis; control system synthesis; feedback; linearisation techniques; manipulators; nonlinear control systems; observability; observers; stability; Fliess generalized observability canonical form; closed-loop system; differential algebra; dynamical linearizing feedback controller; error-driven controller; flexible joint; flexible manipulator; observer-based controller; robots; tracking error; Adaptive control; Algebra; Control systems; Error correction; Feedback; Mathematical model; Nonlinear systems; Observability; Robots; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on

Conference_Location

Hartford, CT

Print_ISBN

0-7803-3876-6

Type

conf

DOI

10.1109/CCA.1997.627562

Filename

627562