NDLI: Passivity/lyapunov based controller design for trajectory tracking of flexible joint manipulators

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Passivity/lyapunov based controller design for trajectory tracking of flexible joint manipulators

Content Provider	NASA Technical Reports Server (NTRS)
Author	Sicard, Pierre Lanari, Leonardo Wen, John T.
Copyright Year	1992
Description	A passivity and Lyapunov based approach for the control design for the trajectory tracking problem of flexible joint robots is presented. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. Feedforward selection and solution is analyzed for a general model for flexible joints, and for more specific and practical model structures. Passivity theory is used to design a motor state-based controller in order to input-output stabilize the error system formed by the feedforward. Observability conditions for asymptotic stability are stated and verified. In order to accommodate for modeling uncertainties and to allow for the implementation of a simplified feedforward compensation, the stability of the system is analyzed in presence of approximations in the feedforward by using a Lyapunov based robustness analysis. It is shown that under certain conditions, e.g., the desired trajectory is varying slowly enough, stability is maintained for various approximations of a canonical feedforward.
File Size	2836139
Page Count	56
File Format	PDF
Alternate Webpage(s)	http://archive.org/details/NASA_NTRS_Archive_19930007519
Archival Resource Key	ark:/13960/t3sv2h77v
Language	English
Publisher Date	1992-08-01
Access Restriction	Open
Subject Keyword	Cybernetics Controllers Robustness Mathematics Robot Control Asymptotic Properties Control Systems Design Tracking Problem Manipulators Feedback Control Robot Dynamics Errors Feedforward Control Control Stability Trajectory Analysis Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science
Content Type	Text
Resource Type	Technical Report

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