TY - GEN
T1 - Dynamic surface controller for flexible joint robots without velocity measurements
AU - Yoo, Sung Jin
AU - Choi, Yoon Ho
AU - Park, Jin Bae
PY - 2007
Y1 - 2007
N2 - This paper proposes an dynamic surface control approach for flexible-joint (FJ) robots without velocity measurements. We develop a link position tracking controller using the observer dynamic surface design procedure. From the controller design procedure, we show that the proposed controller can be simpler than the observer backstepping controller. It is proved that all signals in a closed-loop system are uniformly ultimately bounded from the Lyapunov stability analysis. Finally, the simulation of a three-link FJ robot are performed to verify the effectiveness of the proposed control scheme.
AB - This paper proposes an dynamic surface control approach for flexible-joint (FJ) robots without velocity measurements. We develop a link position tracking controller using the observer dynamic surface design procedure. From the controller design procedure, we show that the proposed controller can be simpler than the observer backstepping controller. It is proved that all signals in a closed-loop system are uniformly ultimately bounded from the Lyapunov stability analysis. Finally, the simulation of a three-link FJ robot are performed to verify the effectiveness of the proposed control scheme.
UR - http://www.scopus.com/inward/record.url?scp=48349085860&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=48349085860&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2007.4407063
DO - 10.1109/ICCAS.2007.4407063
M3 - Conference contribution
AN - SCOPUS:48349085860
SN - 8995003871
SN - 9788995003879
T3 - ICCAS 2007 - International Conference on Control, Automation and Systems
SP - 1098
EP - 1102
BT - ICCAS 2007 - International Conference on Control, Automation and Systems
T2 - International Conference on Control, Automation and Systems, ICCAS 2007
Y2 - 17 October 2007 through 20 October 2007
ER -