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Robust finite-time feedback linearization control of robots: theory and experiment

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Abstract

This paper presents a finite-time feedback linearization method for n-DoF manipulators, considering mismatched uncertainties in dynamics. A particular scheme, based on input-state linearization, is proposed to reduce the system uncertainties’ repercussions and enhance the pace of regulation simultaneously. Providing the robustness characteristic, two different approaches are presented to deal with the mismatched uncertainties. In addition, in order to obtain the finitary control gains, the differential Riccati equation is used, and to resolve it, we take advantage of the Lyapunov-based method. Indeed, the capability of presented methods in both the regulation and tracking the trajectory is shown and certain results’ comparisons including dynamic load carrying capacity present a meticulous analysis on superiorities of the proposed approach. Besides, the finite-time, robust method is applied on a 3-DoF manipulator through extensive simulations. Finally, by implementing on an experimental robot, the simulation results are validated.

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Authors and Affiliations

  1. Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, 1684613114, Iran

    Shahab Kazemi & Saeed Rafee Nekoo

Authors
  1. Shahab Kazemi
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  2. Saeed Rafee Nekoo
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Correspondence to Shahab Kazemi.

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Technical Editor: Victor Juliano De Negri.

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Kazemi, S., Rafee Nekoo, S. Robust finite-time feedback linearization control of robots: theory and experiment. J Braz. Soc. Mech. Sci. Eng. 40, 385 (2018). https://doi.org/10.1007/s40430-018-1304-4

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  • DOI: https://doi.org/10.1007/s40430-018-1304-4

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