Global Position-Feedback Tracking Control of Flexible-joint Robots

被引：0
|
作者：
Avila-Becerril, Sofia [1 ]
Loria, Antonio [2 ]
Panteley, Elena [2 ,3 ]
机构：
[1] Univ Nacl Autonoma Mexico, Fac Ingn, Mexico City, DF, Mexico
[2] CNRS, LSS CENT SUPELEC, 3 Rue Joliot Curie, F-91192 Gif Sur Yvette, France
[3] ITMO Univ, Kronverkskiy Av 49, St Petersburg 197101, Russia
来源：
2016 AMERICAN CONTROL CONFERENCE (ACC) | 2016年
关键词：
MANIPULATORS; SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：3008 / 3013
页数：6
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