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

Published online by Cambridge University Press:  01 May 2000

W.E. Dixon
Affiliation:
Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA). E-mail: ddawson@eng.clemson.edu
E. Zergeroglu
Affiliation:
Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA). E-mail: ddawson@eng.clemson.edu
D.M. Dawson
Affiliation:
Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA). E-mail: ddawson@eng.clemson.edu
M.W. Hannan
Affiliation:
Department of Electrical and Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA). E-mail: ddawson@eng.clemson.edu

Abstract

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.

Type
Research Article
Copyright
© 2000 Cambridge University Press

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