NDLI: Tracking control of flexible-link manipulators based on environmental force disturbance observer

Content Provider	IEEE Xplore Digital Library
Author	Atashzar, S.F. Talebi, H.A. Towhidkhah, F. Shahbazi, M.
Copyright Year	2010
Description	Author affiliation: Department of Electrical Engineering at Amirkabir University of Technology, Tehran, Iran (Atashzar, S.F.; Talebi, H.A.; Shahbazi, M.) \|\| Biomedical Engineering Faculty at Amirkabir University of Technology, Tehran, Iran (Towhidkhah, F.)
Abstract	In this paper, a composite tracking controller for single-link flexible manipulators is proposed. An Extended Kalman Filter (EKF) is utilized to observe the environmental forces (as disturbances) and a Lyapunov redesign robust control to alleviate the destructive effects of the observation errors in noisy situations. The observed forces can also be used in many applications such as tele-surgical robotics as interaction data. Utilizing this method, the necessity of additional force sensors is removed. It enhances structural miniaturization of the robots and reduces the costs. It should be noted that the singularity of jacobian matrix related to the flexible link, causes extreme difficulties in observation procedure which is dealt with in this paper. Moreover, control strategy is based on the common near to tip output to avoid the difficulties associated with non-minimum phase behavior of flexible link manipulators. Simulation results performed on a single-link flexible manipulator (with parameters of an experimental setup) are presented to illustrate the significant improvement in performance of the proposed controller as well as force-disturbance observation ability in noisy situations.
Starting Page	3584
Ending Page	3589
File Size	1639911
Page Count	6
File Format	PDF
ISBN	9781424477456
ISSN	07431546
e-ISBN	9781424477463
DOI	10.1109/CDC.2010.5717325
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-12-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Observers Force Manipulators Robustness Noise measurement Noise Dynamics Tele-surgical Robots Flexible link manipulator Environmental Force Observer Extended Kalman Filter Non-minimum Phase Systems
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Modeling and Simulation

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