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Communication Dans Un Congrès Année : 2014

Output-feedback global tracking control of robot manipulators with flexible joints

Résumé

We present a controller for flexible-joint robots without link velocity measurement. Our main result consists in a simple controller of the type proportional-derivative plus feedforward and a series of cascaded filters; the control design is reminiscent of classical backstepping control. To avoid the assumption that link velocities, accelerations and jerks are measured, we use approximate differentiation. The originality of our work lays in establishing uniform global asymptotic stability for the closed-loop system.

Domaines

Automatique
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Dates et versions

hal-01357348 , version 1 (31-08-2016)

Identifiants

Citer

Antonio Loria, Sofía Avila-Becerril. Output-feedback global tracking control of robot manipulators with flexible joints. IEEE American Control Conference 2014, Jun 2014, Portland, OR, United States. pp.4032-4037, ⟨10.1109/ACC.2014.6858900⟩. ⟨hal-01357348⟩
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