Global tracking controllers for flexible-joint manipulators: a comparative study
Global tracking controllers for flexible-joint manipulators: a comparative study
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DOI：
10.1016/0005-1098(94)00172-f
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发表时间：
1995-07
期刊：
影响因子：
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通讯作者：
B. Brogliato;R. Ortega;R. Lozano
中科院分区：
文献类型：
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作者：
B. Brogliato;R. Ortega;R. Lozano
近年来，一些新的非线性系统全局镇定控制器的设计技术被报道。通常，这些方法为设计者提供了不同的自由度;因此，它们在特定示例中的应用导致了各种控制方案的定义。一个有趣的问题是这些计划之间的关系，或者一个包含另一个。此外，由于这些计划将，在一般情况下，表现出不同的瞬态和具有不同的鲁棒性，另一个具有挑战性的研究问题是建立一些共同的框架来比较他们的鲁棒性和性能特性。在本文中，我们调查这些问题的三种不同的控制器设计技术，适用于柔性关节的机器人的全局跟踪问题。各种控制器之间的连接进行了研究。此外，他们使用以下性能指标进行比较：连续性属性维斯-à-维斯于关节刚度，可用性的自适应实现时，机器人参数是未知的，和鲁棒性的“节能”（即被动）未建模的影响。完整的稳定性证明所有所得的控制器。
Several new controller design techniques for global stabilization of nonlinear systems have recently been reported. Typically, these methodologies provide the designer with various degrees of freedom; consequently, their application in specific examples leads to the definition of various control schemes. One question of interest is the relationship between these schemes, or whether one contains the other. Further, since these schemes will, in general, exhibit different transients and possess different robustness properties, another challenging research problem is to establish some common framework to compare their robustness and performance properties. In this paper we investigate these questions for three different controller design techniques as applied to the problem of global tracking of robots with flexible joints. The connection between the various controllers are investigated. Further, they are compared using the following performance indicators: continuity properties vis-à-vis the joint stiffness, availability of adaptive implementations when the robot parameters are unknown, and robustness to ‘energy-preserving’ (i.e. passive) unmodelled effects. Complete stability proofs of all the resulting controllers are given.