Trajectory Tracking Control of a Very Flexible Robot Using a Feedback Linearization Controller and a Nonlinear Observer

2018 ◽  
pp. 26-33 ◽  
Author(s):  
Fatemeh Ansarieshlaghi ◽  
Peter Eberhard
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Feedback Linearization ◽  
Nonlinear Observer ◽  
Flexible Robot ◽  
Trajectory Tracking Control

scholarly journals Trajectory Tracking Control of Mobile Robot using Multi-input T-S Fuzzy Feedback Linearization

2011 ◽  
Vol 15 (7) ◽  
pp. 1447-1456
Author(s):  
Keun-Woo Hwang ◽  
Hyeon-Woo Kim ◽  
Seung-Kyu Park ◽  
Gun-Pyong Kwak ◽  
Ho-Kyun Ahn ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Feedback Linearization ◽  
Trajectory Tracking Control

Modeling and Control of a Horizontal Two-Link Rigid/Flexible Robot

2005 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Dynamic Model ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Trajectory Control ◽  
Distributed Parameter ◽  
Mathematical Tool ◽  
Flexible Robot ◽  
Trajectory Tracking Control ◽  
Modeling And Control ◽  
Control Scheme

This paper proposes a trajectory control scheme for a horizontal two-link rigid/flexible robot having a payload at the free end. First, a new distributed-parameter dynamic model, consisting of two ordinary differential equations and one partial differential equation, is derived using the extended Hamilton’s principle, and then a trajectory-tracking control scheme is designed based on the distributed-parameter dynamic model, where the Lyapunov stability theorem is used as a mathematical tool. The proposed control is a collocated control, free from the so-called spillover instability. The proposed control consists of a PD control for the rigid dynamics, a proportional control for the flexible dynamics, and feed forward and dynamics compensation. With only two joint actuators, the proposed trajectory control guarantees stability throughout the entire trajectory-tracking control and asymptotic stability at desired goal positions. The theoretical results have been evaluated with control experiments.

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