Dynamical feedback control of robotic manipulators with joint flexibility

Dynamic feedback control strategies are proposed for the asymptotic stabilization and asymptotic output tracking problems, associated with the operation of flexible joint manipulators. Smooth dynamical linearizing feedback controllers, as well as dynamical sliding mode regulators, are derived within the context of M. Fliess´s (1989) generalized observability canonical form (GOCF). The GOCF is obtained by means of a state elimination procedure, carried out on the system of differential equations describing the manipulator dynamics. The remarkable feature of this new approach lies in the fact that a truly effective smoothing of the sliding mode controlled responses is possible while substantially reducing the chattering in the control input torque. Simulation examples are given that illustrate the performance of the proposed controllers