Robust control using recursive design method for flexible joint robot manipulator
- Authors
- Yim, Jong Guk; Yeon, Je Sung; Park, Jong Hyeon; Lee, Sang Hun; Hur, Jong Sung
- Issue Date
- Apr-2007
- Publisher
- IEEE
- Keywords
- Backstepping control; Flexible joint; H�� control; NLMI (Nonlinear Matrix Inequality); Robust control
- Citation
- Proceedings - IEEE International Conference on Robotics and Automation, pp.3805 - 3810
- Indexed
- SCOPUS
- Journal Title
- Proceedings - IEEE International Conference on Robotics and Automation
- Start Page
- 3805
- End Page
- 3810
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/180237
- DOI
- 10.1109/ROBOT.2007.364062
- ISSN
- 1050-4729
- Abstract
- Flexible joint robot manipulators can be decomposed into two cascaded subsystems, a series connection of robot link dynamics and joint dynamics. For these flexible manipulators, we propose the robust controller using a recursive design method. The recursive design procedures are constructive and contain two steps. First, a fictitious robust controller for the robot link dynamics is designed as if the link dynamics had an independent control. As the fictitious control, a nonlinear H∞ control using the energy dissipation is designed in the sense of L2 -gain attenuation from the disturbance caused by uncertainties to performance. Second, a real robust control is designed recursively by using a Lyapunov's second method. The designed robust control is applied to a 2 DOF robot manipulator with joint flexibilities.
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