Robust position tracking control for rigid-link flexible-joint robots

Author

Martindale, S.C. ; Bridges, M.M. ; Dawson, D.M.

Author_Institution

Sch. of Electr. & Comput. Eng., Clemson Univ., SC, USA

fYear

1993

fDate

7-9 Mar 1993

Firstpage

358

Lastpage

362

Abstract

The robust tracking controller for rigid-link flexible-joint (RLFJ) robots presented by D. M. Dawson et al. (1991) is redesigned. The controller exploits aspects of the dynamic model to provide a global uniform ultimately bounded (GUUB) stability result despite the presence of parametric uncertainty, joint flexibility, and mechanical actuator dynamics. The controller delivers the GUUB result for both the position and the velocity error. The redesign enables the final ball in which the link tracking error resides to be arbitrarily shrunk and the exponential rate at which the error approaches that ball to be increased by adjustment of the control gains

Keywords

control system synthesis; controllers; error analysis; manipulator dynamics; robust control; tracking; control gains; dynamic model; global uniform ultimately bounded stability; link tracking error; mechanical actuator dynamics; parametric uncertainty; position error; redesign; rigid-link flexible-joint robots; robust tracking controller; velocity error; Accelerometers; Actuators; Adaptive control; Bridges; Error correction; Programmable control; Robot control; Robust control; Torque control; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

System Theory, 1993. Proceedings SSST '93., Twenty-Fifth Southeastern Symposium on

Conference_Location

Tuscaloosa, AL

ISSN

0094-2898

Print_ISBN

0-8186-3560-6

Type

conf

DOI

10.1109/SSST.1993.522802

Filename

522802