Global adaptive partial state feedback tracking control of rigid-link flexible-joint robots

This paper presents a solution to the global adaptive partial state feedback control problem for rigid-link, flexible-joint (RLFJ) robots. The proposed tracking controller adapts for parametric uncertainty throughout the entire mechanical system while only requiring link and actuator position measurements. A nonlinear filter is employed to eliminate the need for link velocity measurements while a set of linear filters is utilized to eliminate the need for actuator velocity measurements. A backstepping control strategy is utilized to illustrate global asymptotic link position tracking. An output feedback controller that adapts for parametric uncertainty in the link dynamics of the robot manipulator is presented as an extension. Experimental results are provided as verification of the proposed controller.

[1]  Frank L. Lewis,et al.  Control of Robot Manipulators , 1993 .

[2]  P.V. Kokotovic,et al.  The joy of feedback: nonlinear and adaptive , 1992, IEEE Control Systems.

[3]  Zhihua Qu.  Input-output robust tracking control design for flexible joint robots , 1995 .

[4]  Romeo Ortega,et al.  An observer-based set-point controller for robot manipulators with flexible joints , 1993 .

[5]  Warren E. Dixon,et al.  Global output feedback tracking control for rigid-link flexible-joint robots , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[6]  Ser Yong Lim,et al.  Re-examining the Nicosia-Tomei robot observer-controller from a backstepping perspective , 1996, IEEE Trans. Control. Syst. Technol..

[7]  P. Tomei.  A simple PD controller for robots with elastic joints , 1991 .

[8]  Jun Hu,et al.  An adaptive link position tracking controller for rigid-link flexible-joint robots without velocity measurements , 1997, IEEE Trans. Syst. Man Cybern. Part B.

[9]  S. Sastry,et al.  Adaptive Control: Stability, Convergence and Robustness , 1989 .

[10]  Darren M. Dawson,et al.  A partial state feedback controller for tajectory tracking of rigid-link fiexible-joint robot using an observed backstepping approach , 1995, J. Field Robotics.

[11]  M. Spong.  Modeling and Control of Elastic Joint Robots , 1987 .

[12]  Miroslav Krstic,et al.  Nonlinear and adaptive control de-sign , 1995 .

[13]  Darren M. Dawson,et al.  Model-based control of rigid-link flexible-joint robots: an experimental evaluation , 1998, Robotica.

[14]  Antonio Loría,et al.  Global Tracking Control of One Degree of Freedom Euler-Lagrange Systems without Velocity Measurements , 1996, Eur. J. Control.

[15]  D. M. Dawson,et al.  A partial state feedback controller for trajectory tracking of rigid-link flexible-joint robots using an observed backstepping approach , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[16]  Darren M. Dawson,et al.  An adaptive partial state-feedback controller for RLED robot manipulators , 1996 .

[17]  Romeo Ortega,et al.  Global regulation of flexible joint robots using approximate differentiation , 1994 .

[18]  Warren E. Dixon,et al.  Global robust output feedback tracking control of robot manipulators , 1998, Proceedings of the 1998 IEEE International Conference on Control Applications (Cat. No.98CH36104).

[19]  D.M. Dawson,et al.  Global adaptive output feedback tracking control of robot manipulators , 1997, Proceedings of the 36th IEEE Conference on Decision and Control.

[20]  Patrizio Tomei,et al.  A tracking controller for flexible joint robots using only link position feedback , 1995, IEEE Trans. Autom. Control..