Position Control of Rotary Flexible Joint System Using Adaptive Dynamic Inversion

Abstract

This paper presents an adaptive generalized dynamic inversion (AGDI) control methodology to the problem of angular position tracking of the rotary flexible joint system while suppressing joint vibrations. The AGDI control is composed of an equivalent control, which is responsible to enforce the prescribed constraint dynamics that encompasses the control objectives and control expression is obtained by inverting the constraint dynamics using Moore-Penrose generalized inversion. Furthermore, robustness is achieved by integrating a switching (discontinuous) term based on the sliding mode control method. The sliding mode gain of the switching control law is made adaptive for chattering reduction and improved tracking capability. The performance of AGDI control is evaluated through both numerical simulation and experimental investigations executed on Quanser's rotary flexible joint system. Simulation and experimental results reveal that the AGDI control is quiet capable to achieve the desired response curves against set-point tracking and disturbance rejection scenarios.