Adaptive robust tracking control for compliant-joint mechanical arms with motor dynamics

Author

Yang, Jung-Hua

Author_Institution

Dept. of Electr. Eng., Yungta Coll. of Technol. & Commerce, Pingtung, Taiwan

Volume

4

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

3394

Abstract

Investigates the tracking control problem of an elastic-joint mechanical manipulator with DC motor dynamics. We present an adaptive variable structure control scheme to circumvent such problems. It only requires the measurements of position and velocity signals of links and motor shafts as well as the armature current. Besides, all the system parameters are assumed to be unknown a priori, and the asymptotic stability of the overall system can be concluded by Lyapunov theory. In the simulation case, the effectiveness of the proposed control algorithm is also demonstrated

Keywords

DC motors; Lyapunov methods; adaptive control; asymptotic stability; control system synthesis; manipulator dynamics; position control; position measurement; robust control; variable structure systems; velocity measurement; DC motor dynamics; adaptive robust tracking control; adaptive variable structure control scheme; compliant-joint mechanical arms; elastic-joint mechanical manipulator; motor dynamics; Adaptive control; Current measurement; DC motors; Manipulator dynamics; Mechanical variables control; Position measurement; Programmable control; Robust control; Shafts; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1999. Proceedings of the 38th IEEE Conference on

Conference_Location

Phoenix, AZ

ISSN

0191-2216

Print_ISBN

0-7803-5250-5

Type

conf

DOI

10.1109/CDC.1999.827798

Filename

827798