Global adaptive partial state feedback tracking control of rigid-ink flexible-joint robots

被引：38

作者：

Dixon, WE ^{[1
]}

Zergeroglu, E ^{[1
]}

Dawson, DM ^{[1
]}

Hannan, MW ^{[1
]}

机构：

[1] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA

来源：

ROBOTICA | 2000年 / 18卷 / 03期

关键词：

tracking control; flexible-joint robots; adaptive feedback; backstepping strategy;

D O I：

10.1017/S0263574799002167

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a solution to the global adaptive partial state feedback control problem for rigid-link, flexible-joint (RLFJ) robots. The proposed tracking controller adapts for parametric uncertainty throughout the entire mechanical system while only requiring link and actuator position measurements. A nonlinear filter is employed to eliminate the need for link velocity measurements while a set of linear filters is utilized to eliminate the need for actuator velocity measurements. A backstepping control strategy is utilized to illustrate global asymptotic link position tracking. An output feedback controller that adapts for parametric uncertainty in the link dynamics of the robot manipulator is presented as an extension. Experimental results are provided as verification of the proposed controller.

引用

页码：325 / 336

页数：12

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