Title

Input-Output Robust Tracking Control Design For Flexible-Joint Robots

Authors

Authors

Z. H. Qu

Comments

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Abbreviated Journal Title

IEEE Trans. Autom. Control

Keywords

ADAPTIVE-CONTROL; MANIPULATORS; OBSERVER; SYSTEMS; LAW; Automation & Control Systems; Engineering, Electrical & Electronic

Abstract

This paper presents the first input-output robust control design for the trajectory following problem of a flexible-joint robot manipulator. The proposed design provides a class of controllers which only require position and velocity feedback and ensure global stability. The resulting stability is that the tracking error can be made to be smaller than a design parameter arbitrarily chosen by the designer. The proposed control is robust since it guarantees tracking performance in the presence of high-order nonlinear uncertainties including unknown joint elasticity, unknown parameters, load variation, and disturbances. Practically, it is more important that no measurement on acceleration, jerk, or position and velocity deformation is required.

Journal Title

Ieee Transactions on Automatic Control

Volume

40

Issue/Number

1

Publication Date

1-1-1995

Document Type

Note

Language

English

First Page

78

Last Page

83

WOS Identifier

WOS:A1995QB39800007

ISSN

0018-9286

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