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

    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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