Exponentially Stable Tracking Control for Multijoint Flexible-Link Manipulators

[+] Author and Article Information
B. Paden, D. Chen, R. Ledesma, E. Bayo

Department of Mechanical and Environmental Engineering, University of California, Santa Barbara, Santa Barbara, CA 93106-5070

J. Dyn. Sys., Meas., Control 115(1), 53-59 (Mar 01, 1993) (7 pages) doi:10.1115/1.2897407 History: Received October 01, 1989; Revised October 01, 1991; Online March 17, 2008


In this paper we describe a new tracking control law for multijoint flexible-link manipulators. The scheme is a synthesis of the inverse dynamics solution for flexible manipulators developed by Bayo at UCSB and tracking control theory for rigid-link manipulators put forth by Bayard, Wen and others. We show that passive joint controllers, together with the feedforward of nominal joint torques corresponding to a desired end-effector trajectory, results in exponentially stable tracking control. Stability is proved (local to the desired trajectory) for a large class of passive controllers which include proportional and derivative controllers, and lead compensators. The proof is based on a simple Lyapunov analysis and the Positive-Real lemma.

Copyright © 1993 by The American Society of Mechanical Engineers
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