Robust Control of Rigid-Link Flexible-Joint Robots with Redundant Joint Actuators
Robust Control of Rigid-Link Flexible-Joint Robots with Redundant Joint Actuators
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DOI：
10.1109/acc.1992.4175286
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发表时间：
1992-06
期刊：
影响因子：
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通讯作者：
M. Bridges;D. Dawson;Z. Qu;S. C. Martindale
中科院分区：
文献类型：
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作者：
M. Bridges;D. Dawson;Z. Qu;S. C. Martindale
针对具有冗余度驱动器的刚性柔性关节(RLFJ)机器人，提出了一种鲁棒跟踪控制器的设计方法。对于由两个驱动器驱动的单个机器人关节的控制来说，同步是一个主要问题。由于执行器动力学、模型不确定性和未知有界扰动的影响，该控制问题变得更加复杂。为了解决这一问题，我们设计了一种鲁棒跟踪控制器，该控制器在存在有界干扰和模型不确定性的情况下，实现了链路跟踪误差的全局一致最终有界(GUUB)稳定性。
This paper presents as approach for designing robust tracking controllers for rigid-link flexible-joint (RLFJ) robot manipulators with redundant actuators in the joints. Synchronization is a major problem for the control of a single robotic joint driven by two actuators. This control problem is further complicated by the effects of actuator dynamics, model uncertainty and unknown bounded disturbances. To solve this problem, we develop a robust tracking controller that achieves global uniform ultimate bounded (GUUB) stability of the link tracking error in spite of bounded disturbances and model uncertainty.