A GUAS Joint Position Tracking Controller of Torque-Driven Robot Manipulators Influenced by Dynamic Dahl Friction: Theory and Experiments
Rafael Kelly, Jesús Sandoval, Víctor Santibáñez
Abstract
This article presents a controller for global joint position tracking control of torque-driven robot manipulators involving dynamic Dahl friction. The control law has been designed using a novel theoretical Hamiltonian inspired framework, which allows global uniform asymptotic stability (GUAS) of the nonautonomous nonlinear closed-loop system. An observer is provided to estimate the nonmeasurable state of internal friction of the Dahl model, preserving the GUAS attribute in the closed-loop system. The performance of the proposed control scheme is illustrated through experiments on a two-degree-of-freedom direct-drive robot arm.
Topics & Concepts
Control theory (sociology)TorqueNonlinear systemExponential stabilityPosition (finance)Controller (irrigation)Observer (physics)Control engineeringRobotEngineeringMechanical systemComputer scienceControl (management)Artificial intelligencePhysicsThermodynamicsQuantum mechanicsEconomicsBiologyAgronomyFinanceControl and Stability of Dynamical SystemsDynamics and Control of Mechanical SystemsAdaptive Control of Nonlinear Systems