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

被引：0
作者：
A. Izadbakhsh
M. M. Fateh
机构：
[1] Shahrood University of Technology,Department of Electrical and Robotic Engineering
来源：
Arabian Journal for Science and Engineering | 2014年 / 39卷
关键词：
Nonlinear robust control; Voltage control strategy; Actuator saturation; Flexible joint robots;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
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.
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收藏
页码：3111 / 3121
页数：10
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