Tracking control of single‐link flexible‐joint manipulator with unmodeled dynamics and dead zone

Ze Yan, Xuzhi Lai, Qingxin Meng, Pan Zhang, Min Wu

2020International Journal of Robust and Nonlinear Control29 citationsDOI

Abstract

Abstract This article presents a tracking control approach for a flexible‐joint manipulator (FJM) with single link. This approach can achieve the tracking control objective and reject the influences caused by unmodeled dynamics and dead zone. The main contributions are: (1) a robust tracking control approach for the FJM with single link based on equivalent‐input‐disturbance (EID) method is proposed; (2) the unmodeled dynamics and dead zone are considered simultaneously in the tracking control of the FJM with single link; (3) in the control process, velocity measurements are not required in our approach. The robust stability of the EID‐based approach is proved, and the validity for the FJM with single link is illustrated by simulation results.

Topics & Concepts

Control theory (sociology)Tracking (education)Link (geometry)Dead zoneComputer scienceDynamics (music)Robust controlJoint (building)Stability (learning theory)Process (computing)Manipulator (device)Process dynamicsControl (management)Control engineeringEngineeringControl systemRobotArtificial intelligencePhysicsGeologyPsychologyAcousticsArchitectural engineeringElectrical engineeringOceanographyComputer networkPedagogyMachine learningOperating systemDynamics and Control of Mechanical SystemsAdaptive Control of Nonlinear SystemsControl Systems in Engineering