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Robust constraint-following servo control for flexible manipulator based on Udwadia-Kalaba. (Chinese. English summary) Zbl 1463.93056

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
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