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http://dx.doi.org/10.5302/J.ICROS.2004.10.12.1256

Dynamic Output Feedback Passivation of Nonlinear Systems with Application to Flexible Joint Robots  

Son Young-Ik (명지대학교 전기공학과)
Lim Seungchul (명지대학교 기계공학부)
Kim Kab-Il (명지대학교 전기공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.10, no.12, 2004 , pp. 1256-1263 More about this Journal
Abstract
Output feedback passivation problem is studied when the given system is not minimum-phase or does not have relative degree one. Using a parallel connection with an additional dynamics, the authors provide a dynamic output feedback control law which renders the composite system passive. Sufficient conditions are presented under which the composite system is output feedback passive. As an application of the dynamic passivation scheme, a point-to-point control law for a flexible joint robot is presented when only the position measurements are available. This provides an alternative way of replacing the role of the velocity measurements for the proportional-derivative (PD) feedback law. The performance of the proposed control law is illustrated in the simulation studies of a manipulator with three revolute elastic joints.
Keywords
(feedback) passivity; parallel feedforward compensation; output feedback; flexible joint robot; PD control;
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