Tracking control of single-link flexible-joint manipulator with unmodeled dynamics and dead zone

被引：17
|
作者：
Yan, Ze [1 ,2 ]
Lai, Xuzhi [1 ,2 ]
Meng, Qingxin [1 ,2 ,3 ]
Zhang, Pan [1 ,2 ,3 ]
Wu, Min [1 ,2 ]
机构：
[1] China Univ Geosci, Sch Automat, Wuhan 430074, Hubei, Peoples R China
[2] Hubei Key Lab Adv Control & Intelligent Automat C, Wuhan, Peoples R China
[3] Concordia Univ, Dept Mech Ind & Aerosp Engn, Montreal, PQ, Canada
来源：
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL | 2021年 / 31卷 / 04期
基金：
中国国家自然科学基金;
关键词：
active vibration suppression; equivalent‐ input‐ disturbance; flexible‐ joint manipulator system; trajectory tracking; underactuated system; SLIDING MODE CONTROL; ADAPTIVE FUZZY CONTROL; NONLINEAR-SYSTEMS; DISTURBANCE-REJECTION; SURFACE CONTROL; VIBRATION CONTROL; CONTROL DESIGN; ROBOTS; UNCERTAINTY; DRIVEN;
D O I：
10.1002/rnc.5335
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This article presents a tracking control approach for a flexible-joint manipulator (FJM) with single link. This approach can achieve the tracking control objective and reject the influences caused by unmodeled dynamics and dead zone. The main contributions are: (1) a robust tracking control approach for the FJM with single link based on equivalent-input-disturbance (EID) method is proposed; (2) the unmodeled dynamics and dead zone are considered simultaneously in the tracking control of the FJM with single link; (3) in the control process, velocity measurements are not required in our approach. The robust stability of the EID-based approach is proved, and the validity for the FJM with single link is illustrated by simulation results.
引用
收藏
页码：1270 / 1287
页数：18
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