Robust control of nonlinear mechanical systems using linear feedback (Q1881904): Difference between revisions

The paper is concerned with the control of rigid and flexible joint robotic manipulators using basically the PID controller. The following results have been proved. (1) For a rigid manipulator with dynamics model \[ A(q)\ddot{q}+C(q,\dot{q})\dot{q}+g(q)=u \] it is proved that the control of the form \[ u=-K_p(q-q_d)-K_vs+v,\;\;v=const, \;\;\tau\dot{s}=\dot{q}-s \] stabilizes the equilibrium point \(q=q(v),\) \(\dot{q}=0,\) \(s=0\). After adding an integral action \[ \dot{v}=-K_i(q-q_d), \] the equilibrium \(q=q_d\), \(\dot{q}=0,\) \(s=0\) is stabilized. (2) For a flexible joint manipulator, with the so-called reduced Spong model, \[ \begin{aligned} &A(q_l)\ddot{q}_l+C(q_l,\dot{q}_l)\dot{q}_l+g(q_l)=\Gamma(q_m-q_l)\\ &J\ddot{q}_m+\Gamma(q_m-q_l)=u, \end{aligned} \] where \(q_l\), \(q_m\) refer, respectively, to the link and the motor position, the control law of the form \[ u=-K_p(q_l-q_d)-K_v\dot{q}_m+v,\;\;\dot{v}=-K_i(q_l-q_d), \] stabilizes the equilibrium point \(q_l=q_d=\text{const}\), \(q_m=\text{const}\) and \(v=\text{const}\). Furthermore, a modified control law \[ u=-\gamma(-\theta(q_l-q_d)+\dot{q}_m+v),\;\;\dot{v}=\beta(q_l-q_d)+\alpha\dot{q}_m \] has been proposed containing a high gain coefficient \(\gamma\) that stabilizes the equilibrium point \(q_l=q_d\). Above, \(\alpha,\gamma>0\) and \(\beta,\theta\) are symmetric matrices. The proof of the last result is based on a corollary of the Hoppenstead theorem from singularly perturbed systems. Two simple examples illustrate the theory.