Global Position-Feedback Tracking Control of Flexible-joint Robots

被引：0

作者：

Avila-Becerril, Sofia ^{[1
]}

Loria, Antonio ^{[2
]}

Panteley, Elena ^{[2
,3
]}

机构：

[1] Univ Nacl Autonoma Mexico, Fac Ingn, Mexico City, DF, Mexico

[2] CNRS, LSS CENT SUPELEC, 3 Rue Joliot Curie, F-91192 Gif Sur Yvette, France

[3] ITMO Univ, Kronverkskiy Av 49, St Petersburg 197101, Russia

来源：

2016 AMERICAN CONTROL CONFERENCE (ACC) | 2016年

关键词：

MANIPULATORS; SYSTEMS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We solve the open problem of global tracking control of 2nd-degree under-actuated lossless (without friction) Lagrangian systems via position measurements only. For flexible-joint robots, we design a dynamic controller which is based on measurements of link and joint positions only. Then, approximate differentiation is used for link velocities and a simple Luenberger observer for rotor velocities. The main results constitute a significant extension of recent work on observerless output-feedback control of Lagrangian systems. Strictly speaking, we establish uniform global asymptotic stability for the closed loop system.

引用

页码：3008 / 3013

页数：6

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