Voltage-based control of a flexible-joint electrically driven robot using backstepping approach

Nasiri, Neda; Sadjadian, H.; Shahri, Alireza Mohammad

doi:10.1109/pedstc.2013.6506767

Cited by 8 publications

(10 citation statements)

References 16 publications

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Section: The Cases Studies and Simulation Resultsmentioning

confidence: 99%

“…In the first case, we will apply the proposed controller design in control of single flexible link electrically driven robot, in order to compare the exponential tracking controller performance to the simple backstepping controller performed in [1]. We will use the same model and the same parameter as those used in [1]. In order to show that the proposed controller can be applied in manipulators that contain more degrees of freedom, we consider, in the second case, the problem of control of two-degree-of-freedom flexible joint robot manipulators driven by brushed DC motor (Figure 2), with parameters given in Table 1.…”

Section: The Cases Studies and Simulation Resultsmentioning

confidence: 99%

“…The backstepping method is applied to cope with cascade structure and to find the control law to accomplish stabilization and tracking of a desired trajectory in [1]. In this study, a simulation result shows that the proposed controller is not robust in presence of external disturbances and is not fast in tracking trajectory.…”

Section: Journal Of Roboticsmentioning

confidence: 94%

“…In this case, we compare the performances in tracking trajectory of the proposed controller with the simple backstepping controller performed in [1], in the control of single flexible link manipulator driven by brushed DC motor modeled in [1]. The exponential tracking controller gains are set as = 6; 1 = 15; 2 = 3 = 5; 4 = 2.…”

Section: Comparative Studymentioning

confidence: 99%

“…As demonstrated in [1], actuator dynamics constitute an important component of the complete robot dynamics. If actuator dynamics is ignored, the designed controller may not yield good system overall performance.…”

Section: Introductionmentioning

confidence: 99%

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Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot

Mbede

Ahanda

2014

Journal of Robotics

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This paper addresses the design of exponential tracking control using backstepping approach for voltage-based control of a flexible joint electrically driven robot (EFJR), to cope with the difficulty introduced by the cascade structure in EFJR dynamic model, to deal with flexibility in joints, and to ensure fast tracking performance. Backstepping approach is used to ensure global asymptotic stability and its common algorithm is modified such that the link position and velocity errors converge to zero exponentially fast. In contrast with the other backstepping controller for electrically driven flexible joint robot manipulators control problem, the proposed controller is robust with respect to stiffness uncertainty and allows tracking fast motions. Simulation results are presented for both single link flexible joint electrically driven manipulator and 2-DOF flexible joint electrically driven robot manipulator. These simulations show very satisfactory tracking performances and the superiority of the proposed controller to those performed in the literature using simple backstepping methodology.

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Section: The Cases Studies and Simulation Resultsmentioning

confidence: 99%

Section: The Cases Studies and Simulation Resultsmentioning

confidence: 99%

Section: Journal Of Roboticsmentioning

confidence: 94%

Section: Comparative Studymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations