Tracking control of single-link flexible-joint manipulator with unmodeled dynamics and dead zone

被引：21

作者：

Yan, Ze ^{[1
,2
]}

Lai, Xuzhi ^{[1
,2
]}

Meng, Qingxin ^{[1
,2
,3
]}

Zhang, Pan ^{[1
,2
,3
]}

Wu, Min ^{[1
,2
]}

机构：

[1] China Univ Geosci, Sch Automat, Wuhan 430074, Hubei, Peoples R China

[2] Hubei Key Lab Adv Control & Intelligent Automat C, Wuhan, Peoples R China

[3] Concordia Univ, Dept Mech Ind & Aerosp Engn, Montreal, PQ, Canada

来源：

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2021年 / 31卷 / 04期

基金：

中国国家自然科学基金;

关键词：

active vibration suppression; equivalent‐ input‐ disturbance; flexible‐ joint manipulator system; trajectory tracking; underactuated system; SLIDING MODE CONTROL; ADAPTIVE FUZZY CONTROL; NONLINEAR-SYSTEMS; DISTURBANCE-REJECTION; SURFACE CONTROL; VIBRATION CONTROL; CONTROL DESIGN; ROBOTS; UNCERTAINTY; DRIVEN;

D O I：

10.1002/rnc.5335

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article presents a tracking control approach for a flexible-joint manipulator (FJM) with single link. This approach can achieve the tracking control objective and reject the influences caused by unmodeled dynamics and dead zone. The main contributions are: (1) a robust tracking control approach for the FJM with single link based on equivalent-input-disturbance (EID) method is proposed; (2) the unmodeled dynamics and dead zone are considered simultaneously in the tracking control of the FJM with single link; (3) in the control process, velocity measurements are not required in our approach. The robust stability of the EID-based approach is proved, and the validity for the FJM with single link is illustrated by simulation results.

引用

页码：1270 / 1287

页数：18

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