Global position-feedback tracking control of flexible-joint robots

We solve the open problem of global tracking control of 2nd-degree under-actuated lossless (without friction) Lagrangian systems via position measurements only. For flexible-joint robots, we design a dynamic controller which is based on measurements of link and joint positions only. Then, approximat...

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Bibliographic Details
Main Authors: Avila-Becerril, Sofia, Loria, Antonio, Panteley, Elena
Format: Conference Proceeding
Language:English
Subjects:
Asymptotic properties
Asymptotic stability
Closed loop systems
Dynamical systems
Dynamics
Links
Observers
Position measurement
Robot control
Robot kinematics
Robots
Tracking control
Velocity measurement
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Summary:We solve the open problem of global tracking control of 2nd-degree under-actuated lossless (without friction) Lagrangian systems via position measurements only. For flexible-joint robots, we design a dynamic controller which is based on measurements of link and joint positions only. Then, approximate differentiation is used for link velocities and a simple Luenberger observer for rotor velocities. The main results constitute a significant extension of recent work on observerless output-feedback control of Lagrangian systems. Strictly speaking, we establish uniform global asymptotic stability for the closed loop system.
ISSN:2378-5861
DOI:10.1109/ACC.2016.7525377