Simplified robust control of an anthropomorphic leg

Author

Kardos, Jan

Author_Institution

Fac. of Electr. Eng. & Inf. Technol., Slovak Univ. of Technol., Bratislava, Slovakia

fYear

2013

fDate

18-21 June 2013

Firstpage

130

Lastpage

135

Abstract

The paper presents a robust command following position control of a three-DOF leg in the joint space. Due to specific features of both the robust control and the motion control system in general, a simplification of the control via the system decomposition to a double integrator plant for each degree of freedom is provided. It is shown, that the desired accuracy of the command tracking is assured despite the presence of signal disturbances and the parameter uncertainty, the limitation of the joint velocities and accelerations as well as the driving torque boundary. Matlab simulation illustrates the expected performance of the control algorithm.

Keywords

mathematics computing; mechatronics; mobile robots; motion control; position control; robust control; torque control; Matlab simulation; anthropomorphic leg; command following position control; command tracking; motion control system; parameter uncertainty; robust control; three-DOF leg; torque boundary; Heuristic algorithms; Joints; Robustness; Switches; Torque; Trajectory; Vectors; anthropomorphic leg; double integrator; robust trajectory tracking; variable structure control;

fLanguage

English

Publisher

ieee

Conference_Titel

Process Control (PC), 2013 International Conference on

Conference_Location

Strbske Pleso

Print_ISBN

978-1-4799-0926-1

Type

conf

DOI

10.1109/PC.2013.6581396

Filename

6581396