A partial state feedback controller for trajectory tracking of rigid-link flexible-joint robots using an observed backstepping approach

2005 ◽  
Author(s):  
S.Y. Lim ◽  
J. Hu ◽  
D.M. Dawson ◽  
M. Queiroz
Keyword(s):  
Trajectory Tracking ◽  
State Feedback ◽  
Feedback Controller ◽  
Flexible Joint ◽  
Rigid Link ◽  
State Feedback Controller ◽  
Flexible Joint Robots ◽  
Backstepping Approach ◽  
Partial State

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

Robotica ◽  
2000 ◽  
Vol 18 (3) ◽  
pp. 325-336 ◽  
Author(s):  
W.E. Dixon ◽  
E. Zergeroglu ◽  
D.M. Dawson ◽  
M.W. Hannan
Keyword(s):  
State Feedback ◽  
Robot Manipulator ◽  
Parametric Uncertainty ◽  
State Feedback Control ◽  
Velocity Measurements ◽  
Linear Filters ◽  
Flexible Joint ◽  
Rigid Link ◽  
Flexible Joint Robots ◽  
Partial State

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.

Tracking a Chaotic System Using an Observer-Based Nonlinear State-Feedback Controller

2011 ◽  
Vol 403-408 ◽  
pp. 4643-4648
Author(s):  
Tanushree Roy ◽  
Aparajita Sengupta
Keyword(s):  
Nonlinear System ◽  
Trajectory Tracking ◽  
State Feedback ◽  
Duffing Oscillator ◽  
Feedback Controller ◽  
Nonlinear Observer ◽  
Single Input Single Output ◽  
State Feedback Controller ◽  
Single Output ◽  
Nonlinear State

This paper attempts to design a Luenberger-like nonlinear observer and a nonlinear state-feedback controller for trajectory tracking of a single-input/single-output nonlinear system exhibiting chaotic dynamics. Using a nonlinear transformation, the nonlinear system is first transformed into a linear system and thereafter a control law is designed for trajectory tracking. The controller, designed on the basis of an input-output linearized model, is applied on both the linearized as well as the nonlinear system. The results are validated through simulation on a Duffing oscillator.

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