Robust control by inverse optimal PID approach for flexible joint robot manipulator

Ha, Tae-Jun; Lee, Jaeyoung; Park, Jong Hyeon

doi:10.1109/ROBIO.2007.4522184

상세 보기

Robust control by inverse optimal PID approach for flexible joint robot manipulator

Ha, Tae-Jun;
Lee, Jaeyoung;
Park, Jong Hyeon

Citations

SCOPUS

7

초록

This paper proposes a robust inverse-optimal control for flexible joint robot manipulator in order to cope with parameter uncertainties. In the first step, a virtual control input was designed as PID form with 2 gain tuning conditions. In the second and third steps, the other virtual input and actual control torque were made using the saturation-type nonlinear control based on the Lyapunov's second method. The controller does not need information of acceleration and jerk of motor side as well as link side. In addition, the one is able to apply to actual robot controller by reducing calculation time caused by Nonlinear Matrix Inequality (NLMI) solving. The robustness was shown in the simulation result through 2-DOF robot manipulator which has flexible joint.

키워드

Back stepping; Flexible joint; Inverse-optimal control; PID; Robot manipulator; Robust control; Automation; Biomimetics; Flexible manipulators; Industrial robots; Manipulators; Modular robots; Proportional control systems; Robot applications; Robotics; Robots; Robust control; Robustness (control systems); Back stepping; Calculation time; Control torque; DOF robot; Flexible joint; Flexible joints; Gain tuning; International conferences; Inverse-optimal control; Lyapunov; Non-linear control; Nonlinear matrix inequalities; Optimal control; Parameter uncertainties; PID; PID form; Robot controllers; Robot manipulator; Robot manipulators; Simulation results; Virtual control; Control theory

제목: Robust control by inverse optimal PID approach for flexible joint robot manipulator

저자: Ha, Tae-Jun; Lee, Jaeyoung; Park, Jong Hyeon

DOI: 10.1109/ROBIO.2007.4522184

발행일: 2007-12

유형: Conference Paper

저널명: 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

페이지: 336 ~ 341