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Research Papers

Robust Flat Filtering Control of a Nonlinear Manipulator-Direct Current Motor System

[+] Author and Article Information
H. Sira-Ramírez

Sección de Mecatrónica,
CINVESTAV IPN,
Av. IPN 2508, Col. San Pedro,
Zacatenco, Gustavo A. Madero,
Ciudad de México 07360, México
e-mail: hsira@cinvestav.mx

E. W. Zurita-Bustamante

Sección de Mecatrónica,
CINVESTAV IPN,
Av. IPN 2508, Col. San Pedro,
Zacatenco, Gustavo A. Madero,
Ciudad de México 07360, México
e-mail: ezurita@cinvestav.mx

A. Luviano-Juárez

Sección de Estudios de Posgrado e Investigación,
UPIITA-IPN,
Av. IPN 2580 Col. Barrio,
La laguna Ticomán, Gustavo A. Madero,
Ciudad de México 07340, México
e-mail: aluviano@ipn.mx

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received March 28, 2017; final manuscript received July 18, 2017; published online October 3, 2017. Assoc. Editor: Dumitru I. Caruntu.

J. Dyn. Sys., Meas., Control 140(2), 021009 (Oct 03, 2017) (8 pages) Paper No: DS-17-1178; doi: 10.1115/1.4037386 History: Received March 28, 2017; Revised July 18, 2017

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-direct current (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.

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Figures

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Fig. 1

FF with 1 extra integrator for the control of a third-order pure integration system

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Fig. 2

Bode diagram of closed-loop transfer function to be excited by the total perturbation input, ξ(t), for different values of the ϵ factor

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Fig. 3

Steady state attenuation of disturbance driven closed-loop system output for several values of the gain factor ϵ

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Fig. 4

Simulated performance of a linear controller on a fast angular position reference trajectory tracking task

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Fig. 5

Simulated trajectory tracking performance of the FFC on the nonlinear single link manipulator-DC motor system

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Fig. 6

Experimental setup for the single-link-DC motor manipulator system

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Fig. 7

Experimental FFC trajectory tracking performance for the angular position in the single-link-DC motor manipulator system

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Fig. 8

Experimental ADRC trajectory tracking performance for the angular position in the single-link-DC motor manipulator system

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Fig. 9

Comparison between the ISTE index in FF and ADRC controllers

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