Input-State Feedback Linearization Control of a Single-Link Flexible Robot Arm moving under Gravity and Joint Friction
In this paper we address the trajectory tracking problem of the end-effector of a single link flexible arm in which the gravity forces and the joint friction forces are taken into account. As an overall approach, a double loop cascade control is used to deal with the joint friction: in its inner loo...
| Autores: | , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2017 |
| País: | España |
| Institución: | Universidad de Castilla-La Mancha |
| Repositorio: | RUIdeRA. Repositorio Institucional de la UCLM |
| OAI Identifier: | oai:ruidera.uclm.es:10578/40092 |
| Acceso en línea: | https://hdl.handle.net/10578/40092 |
| Access Level: | acceso abierto |
| Palabra clave: | Robot control Vibration control |
| Sumario: | In this paper we address the trajectory tracking problem of the end-effector of a single link flexible arm in which the gravity forces and the joint friction forces are taken into account. As an overall approach, a double loop cascade control is used to deal with the joint friction: in its inner loop a two-degree-of-freedom controller is responsible for the joint position in the presence of Coulomb friction disturbances, while in its outer loop an input-state feedback linearization-based controller is implemented to suppress the vibrations and track an end-effector trajectory. To highlight the benefits of the proposed controller in presence of joint friction, the controller was compared with other approaches based on feedback linearization reported in the literature, which considered only a single loop. The results of this comparison showed that our approach provides superior performance in terms of settling time, maximum overshoot and residual vibrations. |
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