Title :
A dynamical linearizing feedback controller for robots with flexible joint
Author :
De León-Morales, Jesús ; Alvarez-Leal, José G. ; Martinez-Guerra, Rafael
Author_Institution :
Fac. de Ingenieria Mecanica y Electrica, Univ. Autonoma de Nuevo Leon, San Nicolas de Los Garza, Mexico
Abstract :
Techniques of differential algebra are used to derive an observer-based controller applied to a flexible manipulator. A dynamical linearizing feedback controller is derived on the basis of Fliess generalized observability canonical form (GOCF). Our controller actually achieves both stability and tracking by linearising the tracking error. The controller is then of error-driven type; the dynamics of the error are estimated by an observer in the closed-loop. An analysis of the stability of the closed-loop system is given. Simulation results are presented for illustrating the performance of this observed based controller scheme, when it is applied to a mathematical model of a robot with flexible joints
Keywords :
algebra; closed loop systems; control system analysis; control system synthesis; feedback; linearisation techniques; manipulators; nonlinear control systems; observability; observers; stability; Fliess generalized observability canonical form; closed-loop system; differential algebra; dynamical linearizing feedback controller; error-driven controller; flexible joint; flexible manipulator; observer-based controller; robots; tracking error; Adaptive control; Algebra; Control systems; Error correction; Feedback; Mathematical model; Nonlinear systems; Observability; Robots; Stability analysis;
Conference_Titel :
Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on
Conference_Location :
Hartford, CT
Print_ISBN :
0-7803-3876-6
DOI :
10.1109/CCA.1997.627562
