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research-article

Robust Flat Filtering Control of a Nonlinear Manipulator-DC Motor System

[+] Author and Article Information
Hebertt Sira-Ramirez

CINVESTAV IPN, Section of Mecatronics, Av. IPN 2508, Col. San Pedro, Zacatenco, Gustavo A. Madero, 07360 Mexico City, Mexico
hsira@cinvestav.mx

Eric William Zurita-Bustamante

CINVESTAV IPN, Section of Mecatronics, Av. IPN 2508, Col. San Pedro, Zacatenco, Gustavo A. Madero, 07360 Mexico City, Mexico
ezurita@cinvestav.mx

Alberto Luviano

UPIITA-IPN, Av. IPN 2580 Col. Barrio, La laguna Ticomán, 07340, Mexico City., México
aluviano@ipn.mx

1Corresponding author.

ASME doi:10.1115/1.4037386 History: Received March 28, 2017; Revised July 18, 2017

Abstract

This paper presents a linear robust output reference trajectory tracking controller, addressed here as a flat filtering controller (FFC), for nonlinear differentially flat systems. Here, we illustrate the controller's performance, via digital computer simulations and, also, via laboratory experiments, carried out on a single link-DC motor driven robot manipulator undergoing a reference trajectory tracking task. The proposed linear FFC only requires the output to be regulated of the composite system and none of the internal states of the resulting third-order nonlinear system. The controller is designed on the basis of a drastic simplification of the combined single link-DC motor dynamics to a, perturbed, third order pure integration system. This demonstrates the robustness of the proposed scheme with respect to ignored nonlinear state-dependent, endogenous, disturbances and, also, to independent unstructured exogenous disturbances inevitable in an experimental setup. Simulation and experimental results, as well as comparisons with other controllers, are presented.

Copyright (c) 2017 by ASME
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