Adaptive augmented state feedback control for an experimental planar two-link flexible manipulator

Author

Bai, Mingli ; Zhou, Dong Hua ; Schwarz, Helmut

Author_Institution

Dept. of Measure. & Control, Duisburg Univ., Germany

Volume

14

Issue

6

fYear

1998

fDate

12/1/1998 12:00:00 AM

Firstpage

940

Lastpage

950

Abstract

An adaptive augmented state feedback control (AASFC) approach is presented for the two-link flexible manipulator, the Duisburg flexible manipulator 01 (DFM01). In order to describe the DFM01 accurately, two disturbance variables are introduced as augmented states. The controller design is based on the steady-state LQR technique in conjunction with an adaptive compensator, where all states are adaptively estimated by employing the strong tracking filter. This control strategy has been tested on DFM01 for both point-to-point and tracking control of the end-effector with different tip mass. Experimental results show that the controller is quite satisfactory, and has strong robustness against payload variations

Keywords

Kalman filters; adaptive control; compensation; flexible manipulators; linear quadratic control; position control; state estimation; state feedback; tracking filters; Duisburg; Kalman filter; adaptive augmented state feedback; adaptive compensator; disturbance variables; flexible manipulator; linear quadratic control; state estimation; tracking control; tracking filter; Adaptive control; Adaptive filters; Payloads; Programmable control; Robust control; State estimation; State feedback; Steady-state; Testing; Weight control;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.736777

Filename

736777