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Saturated control of flexible-joint manipulators using a Hammerstein strictly positive real compensator

Published online by Cambridge University Press:  10 September 2014

Ryan James Caverly ,
David Evan Zlotnik  and
James Richard Forbes
Ryan James Caverly*
Affiliation:
Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA
David Evan Zlotnik
Affiliation:
Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA
James Richard Forbes
Affiliation:
Department of Aerospace Engineering, University of Michigan, Ann Arbor, MI, USA
*
*Corresponding author. E-mail: caverly@umich.edu
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Summary

In this paper the control of flexible-joint manipulators while explicitly avoiding actuator saturation is considered. The controllers investigated are composed of a bounded proportional control term and a Hammerstein strictly positive real angular rate control term. This control structure ensures that the total torque demanded of each actuator is bounded by a value that is less than the maximum torque that each actuator is able to provide, thereby disallowing actuator saturation. The proposed controllers are shown to render the closed-loop system asymptotically stable, even in the presence of modeling uncertainties. The performance of the controllers is demonstrated experimentally and in simulation.

Keywords

Control of robotic systemsActuator saturationFlexible-joint manipulatorsGibbs parameterSerial manipulatorSPR compensator
Type
Articles
Information
Robotica , Volume 34 , Issue 6 , June 2016 , pp. 1367 - 1382
Copyright
Copyright © Cambridge University Press 2014 

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