A Novel Robust Control Method for Motion Control of Uncertain Single-Link Flexible-Joint Manipulator

被引：45
作者：
Yan, Ze [1 ,2 ]
Lai, Xuzhi [1 ,2 ]
Meng, Qingxin [1 ,2 ]
Wu, Min [1 ,2 ]
机构：
[1] China Univ Geosci, Sch Automat, Wuhan 430074, Peoples R China
[2] China Univ Geosci, Hubei Key Lab Adv Control & Intelligent Automat C, Wuhan 430074, Peoples R China
来源：
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS | 2021年 / 51卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Position measurement; Robust control; Manipulators; Position control; Trajectory tracking; Equivalent input disturbance (EID); robust control; single-link flexible-joint manipulator (FJM); underactuated system; vibration control; OBSERVER-BASED CONTROL; DISTURBANCE; ROBOTS; REJECTION; SYSTEMS; DESIGN;
D O I：
10.1109/TSMC.2019.2900502
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Single-link flexible-joint manipulator (FJM) is a kind of time-varying nonlinear system with underactuated characteristics. This paper takes the uncertain single-link FJM (USLFJM) as the object, and presents a novel robust control approach based on equivalent input disturbance (EID) method for motion control (i.e., position control and trajectory tracking control) of the USLFJM. Based on the uncertain dynamic model and desired target of this system, an error system is constructed. The error system is considered as a linear system with a nonlinear virtual disturbance. The motion control objective of the USLFJM can be realized by globally asymptotically stabilizing this linear system and compensating the influence of the nonlinear virtual disturbance. Then, an EID-based control system is designed to realize this control objective. Only position measurements are utilized in this paper, and the stability of the control system is proved. The simulation results are presented to illustrate the validity and the robustness of the proposed control method.
引用
收藏
页码：1671 / 1678
页数：8
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