On Output Feedback Stabilization and Tracking Control of Elastic-Joint Robotic Manipulators

Abstract

In the paper, new approaches to solve the problems on set-point stabilization and trajectory tracking control (TTC) of elastic joined robotic manipulators are presented. In stabilization problem using the Lyapunov functionals method, a new control scheme like a nonlinear PI regulator is obtained in which only the positions of the motors rotors are measured. In the trajectory tracking control problem, a new controller is obtained using only the positions of the motors rotors as well as the coordinates and velocities of the links. The scheme of the controller is constructed by using a Lyapunov vector functions approach. The controller obtained in this paper consists of three parts which are a nonlinear feedback term, a feedforward one, and a dynamic filter state variables.