Robust Lyapunov-Based Control of Flexible-Joint Robots Using Voltage Control Strategy

This paper addresses the design of a robust Lyapunov-based controller for flexible joint electrically driven robots (FJER) using voltage control strategy. To simplify the control problem, the proposed approach is free from the mechanical dynamics of the actuators, however, is related to the electrical dynamics and manipulator dynamics. As a result, the controller is designed based on a third-order model instead of a fifth-order model of the robotic system. The proposed controller is simple and fast response. The stability is guaranteed in the presence of both structured and unstructured uncertainties. Consequently, all system states are remained bounded. In addition, the position errors asymptotically converge to zero. This is the main advantage of the control approach which makes it superior to others. Simulation results on a two-link FJER show the effectiveness of the control approach.