Feedforward calculation in tracking control of flexible robots

Author

Lanari, Leonardo ; Wen, John T.

Author_Institution

Dipartimento di Inf. e Sistemistica, Roma Univ., Italy

fYear

1991

fDate

11-13 Dec 1991

Firstpage

1403

Abstract

A family of asymptotically stabilizing tracking control laws was introduced by the author (1991) for a class of nonlinear Hamiltonian systems. These control laws all have the structure of a sum of a feedback design based on the passivity consideration and a feedforward obtained via a procedure that is closely related to plant inversion. In this paper calculation of the feedforward is considered in detail for both flexible joint robots and a single planar flexible link. The latter also leads to a general result relating inverse dynamics to model reference control in the case of linear systems

Keywords

dynamics; feedback; linear systems; model reference adaptive control systems; nonlinear control systems; position control; robots; stability; asymptotically stabilizing tracking control laws; flexible robots; inverse dynamics; linear systems; model reference control; nonlinear Hamiltonian systems; passivity; plant inversion; single planar flexible link; Control systems; Damping; Feedback; Inverse problems; Linear systems; Nonlinear control systems; Nonlinear equations; Open loop systems; Robot control; Systems engineering and theory; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1991., Proceedings of the 30th IEEE Conference on

Conference_Location

Brighton

Print_ISBN

0-7803-0450-0

Type

conf

DOI

10.1109/CDC.1991.261630

Filename

261630