Prescribed performance tracking for flexible joint robots with unknown dynamics and variable elasticity

被引：160

作者：

Kostarigka, Artemis K. ^{[1
]}

Doulgeri, Zoe ^{[1
]}

Rovithakis, George A. ^{[1
]}

机构：

[1] Aristotle Univ Thessaloniki, Dept Elect & Comp Engn, Thessaloniki 54124, Greece

来源：

AUTOMATICA | 2013年 / 49卷 / 05期

关键词：

Flexible joint robots; Variable stiffness; Position tracking; Prescribed performance; ADAPTIVE-CONTROL; RIGID-LINK; DESIGN; CONTROLLER; MANIPULATORS; OBSERVER;

D O I：

10.1016/j.automatica.2013.01.042

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we consider the design of tracking controllers for flexible joint robots with unknown and possibly variable elasticity, achieving pre-set performance attributes on the link position error. The developed full state feedback controller, is realized without incorporating knowledge relative to the actual system nonlinearities. Furthermore, no approximators are employed to acquire such information. Comparative simulation results on a 2-d.o.f. flexible joint manipulator, illustrate the efficiency of the approach. (C) 2013 Elsevier Ltd. All rights reserved.

引用

页码：1137 / 1147

页数：11

共 33 条

[1] A stable neural network-based observer with application to flexible-joint manipulators [J].

Abdollahi, F ;

Talebi, HA ;

Patel, RV .

IEEE TRANSACTIONS ON NEURAL NETWORKS, 2006, 17 (01) :118-129

[2] Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models [J].

Ailon, A .

AUTOMATICA, 1996, 32 (10) :1455-1461

[3] AN OBSERVER-BASED SET-POINT CONTROLLER FOR ROBOT MANIPULATORS WITH FLEXIBLE JOINTS [J].

AILON, A ;

ORTEGA, R .

SYSTEMS & CONTROL LETTERS, 1993, 21 (04) :329-335

[4]

Albu-Schäffer A, 2003, IEEE INT CONF ROBOT, P3704

[5] Robust Adaptive Control of Feedback Linearizable MIMO Nonlinear Systems With Prescribed Performance [J].

Bechlioulis, Charalampos P. ;

Rovithakis, George A. .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2008, 53 (09) :2090-2099

[6] Robust Partial-State Feedback Prescribed Performance Control of Cascade Systems With Unknown Nonlinearities [J].

Bechlioulis, Charalampos P. ;

Rovithakis, George A. .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2011, 56 (09) :2224-2230

[7] Prescribed Performance Adaptive Control for Multi-Input Multi-Output Affine in the Control Nonlinear Systems [J].

Bechlioulis, Charalampos P. ;

Rovithakis, George A. .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2010, 55 (05) :1220-1226

[8] CONTROL OF RIGID-LINK, FLEXIBLE-JOINT ROBOTS - A SURVEY OF BACKSTEPPING METHODS [J].

BRIDGES, MM ;

DAWSON, DM ;

ABDALLAH, CT .

JOURNAL OF ROBOTIC SYSTEMS, 1995, 12 (03) :199-216

[9] ANN-Based Adaptive Control of Robotic Manipulators With Friction and Joint Elasticity [J].

Chaoui, Hicham ;

Sicard, Pierre ;

Gueaieb, Wail .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2009, 56 (08) :3174-3187

[10] Model-Independent Control of a Flexible-Joint Robot Manipulator [J].

Chatlatanagulchai, Withit ;

Meckl, Peter H. .

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2009, 131 (04) :1-10

← 1 2 3 4 →