Abstract
A control design for flexible joint manipulator in the presence of nonlinearity and mismatched uncertainty is introduced. The control does not need the possible bound of uncertainty a priori. Only the existence of the bound is assumed. A state transformation is introduced via implanted control to tackle a mismatched system. The scheme utilizes the bounding function by combining states and parameters, which is to be estimated. Then an appropriate parameters update laws are designed to guarantee an asymptotic convergency by adopting Lyapunov approach. The control version shows that states converge to zero for the transformed system, and guarantees the uniform stability and boundness. This is also true for the original system in case either the gravitational force is absent or the system is coordinated such that the gravitational force converges to zero as link angles approach zero. The control performance is verified through experiments and shows an enhanced tracking performance for given references.
Similar content being viewed by others
References
Abdollahi, F., Talebi, H. A. and Patel, R. V., 2003, “State Estimation for Flexible-Joint Manipulators Using Stable Neural Networks,”Proceeding of IEEE International Symposium on Computational Intelligence in Robotics and Automation, pp. 25–29.
Amjadi, F. R., Khadem, S. E. and Khaloozadeh, H., 2001, “Position and Velocity Control of a Flexible Joint Robot Manipulator via a Fuzzy Controller Based on Singular Perturbation Analysis,”The 10th IEEE International Conference on Fuzzy Systems, pp. 348–351.
Chen, Y. H. and Leitmann, G., 1987, “Robustness of Uncertain System in the Absence of Matching Assumption,”International Journal of Control, Vol. 45, pp. 1527–1542.
Corless, M. J. and Leitmann, G., 1984, “Adaptive Control for Uncertain Dynamical Systems,” in; Blaquiere, A., and Leitmann, G., (eds.),Mathematical Theory of Dynamical Systems and Microphysics: Control Theory and Mechanics, Academic Press, New York.
Ficola, A., Marino, R. and Nicosia, S., 1983, “A Singular Perturbation Approach to the Control of Elastic Joints,”Proceedings 21st Annual Allerton Conference on Communication, Control,and Computing, IL, pp. 220–225.
Filipescu, A., Dgard, L. and Dion, M., 2003, “Adaptive Gain Sliding Observer Based Sliding controller for Uncertain Parameters Nonlinear System. Application to Flexible Joint Robots,”Proceeding of the 42nd IEEE Conference on Decision and Control, pp. 3537–3542.
Ge, S. S., 1996, “Adaptive Control of a Flexible Joint Manipulator,”Automatica, Vol. 32, No. 2, pp. 273–278.
Huang, A. C. and Chen, Y. C., 2004, “Adaptive Sliding Control for Single-Link Flexible-Joint Robot With Mismatched Uncertainties,”IEEE Transactions on Control Systems Technology, Vol. 12, No. 5, pp. 770–775.
Khorasani, K., 1990, “Nonlinear Feedback control of Flexible Joint Manipulators: A Single Link Case Study,”IEEE Transactions Automatic Control, Vol. 35, No. 10, pp. 1145–1149.
Kim, D.H. and Oho, W. H., 2006, “Robust Control Design For Flexible Joint Manipulators: Theory and Experimental Verification,”International Journal of Control, Automation, and System Engineering, Vol. 4, No. 4, pp. 495–505.
Spong, M. W., 1989, “Adaptive Control of Flexible Joints Manipulators,”System and Control Letters, Vol. 13, pp. 15–21.
Yim, W., 2001, “Adaptive Control of a Flexible-Joint Manipulator,”Proceeding of IEEE International Conference Robotics Automation, Seoul, Korea, May, pp. 3441–3446.
Zhi, W. and Khorrami, F., 2000, “Robust Trajectory Tracking for Manipulators with Joint Flexibility via Backstepping,”Proceeding of the American Control Conference, Chicago, Illinois, pp. 2849–2853.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Kim, D.H., Park, C.S. Adaptive robust control design and experimental demonstration for flexible joint manipulators. J Mech Sci Technol 21, 57–73 (2007). https://doi.org/10.1007/BF03161712
Received:
Revised:
Issue Date:
DOI: https://doi.org/10.1007/BF03161712