Han, Jiang; Zhang, Kai; Dong, Fangfang Robust constraint-following servo control for flexible manipulator based on Udwadia-Kalaba. (Chinese. English summary) Zbl 1463.93056 J. Hefei Univ. Technol., Nat. Sci. 43, No. 5, 577-583 (2020). Summary: A new approach to the constraint-following servo control for flexible manipulator was proposed. Flexible joint robot is a highly nonlinear system and always has time-varying uncertainty. To nonholonomic constraints, the analytical solution of the constraint force is obtained by Udwadia-Kalaba approach so that it can be applied in the control. A virtual control is implanted to divide the original system into link angle subsystem and joint angle subsystem, and each subsystem has control input. The proposed control consisting of Udwadia-Kalaba nominal controller and robust controller renders the given constraints approximately followed while guaranteeing the uniform boundedness and uniform ultimate boundedness performance of the overall system. MSC: 93B35 Sensitivity (robustness) 93C85 Automated systems (robots, etc.) in control theory 93C41 Control/observation systems with incomplete information Keywords:robust control; uncertain system; flexible joint robot; uniform ultimate boundedness PDFBibTeX XMLCite \textit{J. Han} et al., J. Hefei Univ. Technol., Nat. Sci. 43, No. 5, 577--583 (2020; Zbl 1463.93056) Full Text: DOI