STABILITY ANALYSIS OF A ROBUST LINEAR CONTROLLER FOR FLEXIBLE JOINT ROBOTS

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TAGHIRAD H.R.; KHOSRAVI M.A.

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Journal: JOURNAL OF FACULTY OF ENGINEERING (UNIVERSITY OF TABRIZ) Year:2008 | Volume:35 | Issue:1 (49) ELECTRICAL ENGINEERING Page(s): 15-25

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Information Journal Paper

Title

STABILITY ANALYSIS OF A ROBUST LINEAR CONTROLLER FOR FLEXIBLE JOINT ROBOTS

Author(s)

TAGHIRAD H.R. | KHOSRAVI M.A. | Issue Writer Certificate

Keywords

FLEXIBLE JOINT ROBOTSQ1

HARMONIC DRIVEQ1

SINGULAR PERTURBATIONQ1

ROBUST PIDQ1

THIKHONOV'S THEOREMQ1

UUB STABILITYQ1

LYAPUNOV ANALYSISQ1

SIMULATIONSQ1

Abstract

In this paper a new and completely linear algorithm is proposed for robust control of FLEXIBLE JOINT ROBOTS. Moreover, the robust stability of the closed loop system in the presence of structured and unstructured uncertainties is analyzed. In order to develop the controller, flexible joint robot with structured and unstructured uncertainties is modeled and converted into a SINGULAR PERTURBATION form. A robust linear control algorithm is proposed for the slow dynamics and its robust stability conditions are derived using THIKHONOV'S THEOREM. Then, the robust stability of the total system considering the proposed composite controller is analyzed, and the sufficient conditions for robust stability of the overall system are determined. Finally the effectiveness of the proposed controller is verified through SIMULATIONS. It is shown that not only the tracking performance of the proposed controller is very suitable, but also the actuator effort is much smaller than that in the previous result.

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APA: Copy

TAGHIRAD, H.R., & KHOSRAVI, M.A.. (2008). STABILITY ANALYSIS OF A ROBUST LINEAR CONTROLLER FOR FLEXIBLE JOINT ROBOTS. JOURNAL OF FACULTY OF ENGINEERING (UNIVERSITY OF TABRIZ), 35(1 (49) ELECTRICAL ENGINEERING), 15-25. SID. https://sid.ir/paper/43779/en

Vancouver: Copy

TAGHIRAD H.R., KHOSRAVI M.A.. STABILITY ANALYSIS OF A ROBUST LINEAR CONTROLLER FOR FLEXIBLE JOINT ROBOTS. JOURNAL OF FACULTY OF ENGINEERING (UNIVERSITY OF TABRIZ)[Internet]. 2008;35(1 (49) ELECTRICAL ENGINEERING):15-25. Available from: https://sid.ir/paper/43779/en

IEEE: Copy

H.R. TAGHIRAD, and M.A. KHOSRAVI, “STABILITY ANALYSIS OF A ROBUST LINEAR CONTROLLER FOR FLEXIBLE JOINT ROBOTS,” JOURNAL OF FACULTY OF ENGINEERING (UNIVERSITY OF TABRIZ), vol. 35, no. 1 (49) ELECTRICAL ENGINEERING, pp. 15–25, 2008, [Online]. Available: https://sid.ir/paper/43779/en

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