Robust Trajectory Tracking Control of Elastic Robot Manipulators

[+] Author and Article Information
Yoshifumi Morita

Department of Electronic Control Engineering, Gifu National College of Technology, Sinsel-cho, Motosu-gun, Gifu 501-04, Japan

Hiroyuki Ukai, Hisashi Kando

Department of Electrical and Computer Engineering, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya 466, Japan

J. Dyn. Sys., Meas., Control 119(4), 727-735 (Dec 01, 1997) (9 pages) doi:10.1115/1.2802384 History: Received May 09, 1996; Online December 03, 2007


In this paper, a robust control strategy is proposed for the trajectory tracking control of multi-link elastic robot manipulators. The robustness against both of the structured uncertainty caused by the nonlinear mechanical structure and the unstructured one caused by elasticity of links is taken into account in designing controllers. For this purpose the model of elastic robot manipulators is decomposed into the slow model and the fast model by using an integral manifold approach. The slow controller, which is robust against the structured uncertainty, is designed for the slow model on the basis of VSS theory. On the other hand, the fast controller, which is robust against the unstructured uncertainty, is designed for the fast model on the basis of H∞ control theory. Then the composite control is constructed with the slow controller and the fast controller. Some results of numerical simulations are presented to show the effectiveness of this design procedure.

Copyright © 1997 by The American Society of Mechanical Engineers
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