Robust control design for rigid-link flexible-joint electrically driven robot subjected to constraint: theory and experimental verification
Robust control design for rigid-link flexible-joint electrically driven robot subjected to constraint: theory and experimental verification
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DOI：
10.1007/s11071-016-2720-6
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发表时间：
2016-03
影响因子：
5.6
通讯作者：
A. Izadbakhsh
中科院分区：
文献类型：
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作者：
A. Izadbakhsh
本文讨论了一种基于李雅普诺夫的鲁棒控制器的设计，用于考虑电压作为控制输入的柔性关节电动机器人。所提出的方法与电机电气子系统的关键作用相关，因此不受执行器动力学的机械子系统的影响，此处被视为未建模的动力学。本文的主要贡献是证明由全非线性驱动机器人动力学和所提出的控制器组成的闭环系统是BIBO稳定的，而执行器/连杆位置误差在状态空间的任何有限区域中与Lyapunov直接方法一致最终有界稳定。它还形成了一种建设性且保守的算法，用于适当选择 PID 控制器的增益。在柔性关节电动机器人上使用 MATLAB/SIMULINK 外部模式控制产生的分析研究和实验结果证明了所提出的控制方案的高性能。
This paper addresses the design of a robust Lyapunov-based controller for flexible-joint electrically driven robots considering to voltage as control input. The proposed approach is related to the key role of electrical subsystem of the motors, thus is free from mechanical subsystem of the actuator dynamics, considered here as unmodeled dynamics. The main contribution of this paper is to prove that the closed-loop system composed by full nonlinear actuated robot dynamics and the proposed controller is BIBO stable, while actuator/link position errors are uniformly ultimately bounded stable in agreement with Lyapunov’s direct method in any finite region of the state space. It also forms a constructive and conservative algorithm for suitable choice of gains in PID controller. The analytical studies as well as experimental results produced using MATLAB/SIMULINK external mode control on a flexible-joint electrically driven robot demonstrate high performance of the proposed control schemes.