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http://dx.doi.org/10.5370/KIEE.2014.63.9.1245

Design of a Robust Position Tracking Controller for Flexible Joint Manipulator Using Motor Angle  

Lee, Sang-Myung (Dept. of Electrical and Engineering, Myongji University)
Kim, In-Hyuk (Dept. of Electrical and Engineering, Myongji University)
Son, Young Ik (Dept. of Electrical and Engineering, Myongji University)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.63, no.9, 2014 , pp. 1245-1247 More about this Journal
Abstract
This paper presents a robust position tracking controller for motor-driven flexible joint manipulators using only the motor angle measurement. The control problem is not easy because the link position is hard to estimate in the presence of parameter uncertainties. The proposed controller consists of a feedback linearization controller (FLC) and two proportional-integral observers (PIOs) that estimate both system states including the link position and an equivalent disturbance for compensating the parameter uncertainties. Comparative computer simulations are conducted to demonstrate the effectiveness of the proposed control algorithm.
Keywords
Motor angle; Flexible joint manipulator; Model uncertainty; Feedback linearization; PI observer;
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