Title :
Feedforward calculation in tracking control of flexible robots
Author :
Lanari, Leonardo ; Wen, John T.
Author_Institution :
Dipartimento di Inf. e Sistemistica, Roma Univ., Italy
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;
Conference_Titel :
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location :
Brighton
Print_ISBN :
0-7803-0450-0
DOI :
10.1109/CDC.1991.261630
