A stabilizing controller design for flexible joint robot manipulators

2002 ◽  
Author(s):  
M.H. Lee ◽  
W.B. Baek ◽  
J.N. Lee ◽  
K.S. Yoon ◽  
K.S. Hong
Keyword(s):  
Controller Design ◽  
Robot Manipulators ◽  
Stabilizing Controller ◽  
Flexible Joint

Robust Stabilizing Controller Design for Inverted Pendulum System

2014 ◽  
Vol 71 (1) ◽  
Author(s):  
Hazem I. Ali
Keyword(s):  
Steady State ◽  
Time Domain ◽  
State Feedback ◽  
Inverted Pendulum ◽  
Controller Design ◽  
H Infinity ◽  
Pendulum System ◽  
Stabilizing Controller ◽  
Inverted Pendulum System ◽  
System Uncertainties

In this paper the design of robust stabilizing state feedback controller for inverted pendulum system is presented. The Ant Colony Optimization (ACO) method is used to tune the state feedback gains subject to different proposed cost functions comprise of H-infinity constraints and time domain specifications. The steady state and dynamic characteristics of the proposed controller are investigated by simulations and experiments. The results show the effectiveness of the proposed controller which offers a satisfactory robustness and a desirable time response specifications. Finally, the robustness of the controller is tested in the presence of system uncertainties and disturbance.

Global optimization in stabilizing controller design

2006 ◽  
Vol 38 (4) ◽  
pp. 509-526 ◽  
Author(s):  
YoungJung Chang ◽  
Nikolaos V. Sahinidis
Keyword(s):  
Global Optimization ◽  
Controller Design ◽  
Stabilizing Controller

An adaptive robust control scheme for robot manipulators with unknown backlash nonlinearity in gears

2018 ◽  
Vol 41 (10) ◽  
pp. 2789-2802 ◽  
Author(s):  
Soheil Ahangarian Abhari ◽  
Farzad Hashemzadeh ◽  
Mahdi Baradarannia ◽  
Hamed Kharrati
Keyword(s):  
Robust Control ◽  
Controller Design ◽  
Robot Manipulators ◽  
Dead Zone ◽  
Main Idea ◽  
Adaptive Robust Control ◽  
Zone Model ◽  
Robot Trajectory ◽  
Zone Parameter ◽  
The Stability

This paper presents an adaptive robust control algorithm for the nonlinear dynamics of robot manipulators with unknown backlash in gears. The basic nonlinear model of a serial manipulator robot is used for the controller design, and this is combined with the nonlinear proposed dead zone model, based on the input and output torque. The main idea of providing this model is to achieve a dynamic model of the system considering the backlash of the robot joint gears, and having less complexity such that the developed controller does not need the inverse backlash model. The adaptive robust controller is developed, without using the inverse backlash model. The proposed controller is designed based on an unknown dead zone parameter and it guarantees the stability and path tracking of the robot trajectory with unknown dead zone parameter in the desired range. Numerical simulations are conducted to show the effectiveness of the proposed controller. Finally, the efficiency and capability of the proposed controller in dealing with the unknown backlash nonlinearities in gears of the manipulator are demonstrated by experimental results with a five-bar manipulator.

scholarly journals Cascaded Control of Flexible-Joint Robots Based on Sliding-Mode Estimator Approach

2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Genliang Xiong ◽  
Jingxin Shi ◽  
Haichu Chen
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Joint Stiffness ◽  
Perturbation Approach ◽  
Regular Form ◽  
Flexible Joint ◽  
Flexible Joint Robots ◽  
Highly Nonlinear ◽  
Position Controller ◽  
High Bandwidth

The inherent highly nonlinear coupling and system uncertainties make the controller design for a flexible-joint robot extremely difficult. The goal of the control of any robotic system is to achieve high bandwidth, high accuracy of trajectory tracking, and high robustness, whereby the high bandwidth for flexible-joint robot is the most challenging issue. This paper is dedicated to design such a link position controller with high bandwidth based on sliding-mode technique. Then, two control approaches ((1) extended-regular-form approach and (2) the cascaded control structure based on the sliding-mode estimator approach) are presented for the link position tracking control of flexible-joint robot, considering the dynamics of AC-motors in robot joints, and compared with the singular perturbation approach. These two-link position controllers are tested and verified by the simulation studies with different reference trajectories and under different joint stiffness.

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