Saturated control of flexible-joint manipulators using a Hammerstein strictly positive real compensator

Ryan James Caverly, David Evan Zlotnik, James Richard Forbes

Research output: Contribution to journalArticlepeer-review

6 Scopus citations

Abstract

SUMMARY In this paper the control of flexible-joint manipulators while explicitly avoiding actuator saturation is considered. The controllers investigated are composed of a bounded proportional control term and a Hammerstein strictly positive real angular rate control term. This control structure ensures that the total torque demanded of each actuator is bounded by a value that is less than the maximum torque that each actuator is able to provide, thereby disallowing actuator saturation. The proposed controllers are shown to render the closed-loop system asymptotically stable, even in the presence of modeling uncertainties. The performance of the controllers is demonstrated experimentally and in simulation.

Original languageEnglish (US)
Pages (from-to)1367-1382
Number of pages16
JournalRobotica
Volume34
Issue number6
DOIs
StatePublished - Jun 1 2016
Externally publishedYes

Keywords

  • Actuator saturation
  • Control of robotic systems
  • Flexible-joint manipulators
  • Gibbs parameter
  • SPR compensator
  • Serial manipulator

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