Robust control of flexible robot manipulators
- Authors
- Yim, Jong-Guk; Yeon, Je Sung; Lee, Jaeyoung; Park, Jong Hyeon; Lee, Sang-Hun; Hur, Jun ho
- Issue Date
- Oct-2006
- Publisher
- Institute of Control Automation and Systems Engineers (ICASE)
- Keywords
- Backstepping control; Flexible joint; NLMI (Nonlinear Matrix Inequality); Robust control
- Citation
- 2006 SICE-ICASE International Joint Conference, pp.3963 - 3968
- Indexed
- SCOPUS
- Journal Title
- 2006 SICE-ICASE International Joint Conference
- Start Page
- 3963
- End Page
- 3968
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/180864
- DOI
- 10.1109/SICE.2006.314872
- ISSN
- 0000-0000
- Abstract
- A robust control is designed for flexible joint robot manipulators which can be decomposed into two cascaded subsystems; a series connection of robot link dynamics and joint dynamics. A recursive design method is used for the controller design. The recursive design procedure is constructive and contains 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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