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On-line Access: 2018-07-04

Received: 2017-09-11

Revision Accepted: 2018-01-25

Crosschecked: 2018-06-11

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Hua-shan Liu


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Journal of Zhejiang University SCIENCE A 2018 Vol.19 No.7 P.557-578


Bounded adaptive output feedback tracking control for flexible-joint robot manipulators

Author(s):  Hua-shan Liu, Yong Huang

Affiliation(s):  College of Information Science and Technology, Donghua University, Shanghai 201620, China

Corresponding email(s):   hs.liu@qq.com

Key Words:  Robot manipulator, Flexible joint, Output feedback control, Bounded control, Adaptive control

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Hua-shan Liu, Yong Huang. Bounded adaptive output feedback tracking control for flexible-joint robot manipulators[J]. Journal of Zhejiang University Science A, 2018, 19(7): 557-578.

@article{title="Bounded adaptive output feedback tracking control for flexible-joint robot manipulators",
author="Hua-shan Liu, Yong Huang",
journal="Journal of Zhejiang University Science A",
publisher="Zhejiang University Press & Springer",

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%T Bounded adaptive output feedback tracking control for flexible-joint robot manipulators
%A Hua-shan Liu
%A Yong Huang
%J Journal of Zhejiang University SCIENCE A
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%N 7
%P 557-578
%@ 1673-565X
%D 2018
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A1700485

T1 - Bounded adaptive output feedback tracking control for flexible-joint robot manipulators
A1 - Hua-shan Liu
A1 - Yong Huang
J0 - Journal of Zhejiang University Science A
VL - 19
IS - 7
SP - 557
EP - 578
%@ 1673-565X
Y1 - 2018
PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.A1700485

This paper presents a bounded adaptive output feedback tracking control approach for flexible-joint robot manipulators with parametric uncertainties and bounded torque inputs, from a systematic perspective of different (weak or strong) joint flexibilities. The singular perturbation theory and integral manifold concept are applied to decouple the dynamics of flexible-joint robot manipulators into a slow subsystem and a fast subsystem. A class of saturation functions is used to make the control law bounded, ensuring the torque control inputs are within the output limitation of the joint actuators. An adaptive control law of the projection type is adopted to handle the feed-forward term of the slow sub-controller with parametric uncertainties. Meanwhile, an approximate differential filter and a high-gain observer are utilized in the slow and fast subsystems, respectively, to estimate the unmeasurable states, making the complete closed-loop control with only position measurements of motors and links. Importantly, a corrective control scheme is proposed to break through the traditional singular perturbation approach and to make it feasible for robot manipulators with strong joint flexibility. Furthermore, an all-round and strict stability analysis of the whole control system is given. Finally, simulation results verify the superior dynamic performance of the proposed approach.


创新点:1. 提出一种基于校正控制的强柔性关节机器人控制方法; 2. 设计一类力矩控制输入有界的自适应输出反馈轨迹跟踪控制器.
方法:1. 引入校正控制,突破传统奇异摄动方法仅适用于弱柔性关节机器人的限制; 2. 通过一类光滑饱和函数和投影型自适应控制律,确保在参数不确定情况下力矩控制输入的有界性; 3. 利用近似微分滤波和高增益观测实现仅需电机侧和连杆侧位置测量的输出反馈控制.
结论:1. 提出的校正控制策略能够较好地适应不同程度的关节柔性; 2. 设计的有界自适应输出反馈控制方法可严格确保作业全程的控制输入值有界,且具有良好的轨迹跟踪性能.


Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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