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Communication Dans Un Congrès Année : 2016

Global position-feedback tracking control of flexible-joint robots

Résumé

We solve the open problem of global tracking control of 2nd-degree under-actuated lossless (without friction) Lagrangian systems via position measurements only. For flexible-joint robots, we design a dynamic controller which is based on measurements of link and joint positions only. Then, approximate differentiation is used for link velocities and a simple Luenberger observer for rotor velocities. The main results constitute a significant extension of recent work on observerless output-feedback control of Lagrangian systems. Strictly speaking, we establish uniform global asymptotic stability for the closed loop system.

Domaines

Automatique
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Dates et versions

hal-01357298 , version 1 (29-08-2016)

Identifiants

Citer

Sofia Avila-Becerril, Antonio Loria, Elena Panteley. Global position-feedback tracking control of flexible-joint robots. 2016 American Control Conference (ACC), Jul 2016, Boston, MA, United States. pp.3008-3013, ⟨10.1109/ACC.2016.7525377⟩. ⟨hal-01357298⟩
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