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Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot
Joint Authors
Mbede, Jean Bosco
Mvogo Ahanda, Joseph Jean-Baptiste
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-09-08
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
This paper addresses the design of exponential tracking control using backstepping approach for voltage-based control of a flexible joint electrically driven robot (EFJR), to cope with the difficulty introduced by the cascade structure in EFJR dynamic model, to deal with flexibility in joints, and to ensure fast tracking performance.
Backstepping approach is used to ensure global asymptotic stability and its common algorithm is modified such that the link position and velocity errors converge to zero exponentially fast.
In contrast with the other backstepping controller for electrically driven flexible joint robot manipulators control problem, the proposed controller is robust with respect to stiffness uncertainty and allows tracking fast motions.
Simulation results are presented for both single link flexible joint electrically driven manipulator and 2-DOF flexible joint electrically driven robot manipulator.
These simulations show very satisfactory tracking performances and the superiority of the proposed controller to those performed in the literature using simple backstepping methodology.
American Psychological Association (APA)
Mbede, Jean Bosco& Mvogo Ahanda, Joseph Jean-Baptiste. 2014. Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot. Journal of Robotics،Vol. 2014, no. 2014, pp.1-10.
https://search.emarefa.net/detail/BIM-1042867
Modern Language Association (MLA)
Mbede, Jean Bosco& Mvogo Ahanda, Joseph Jean-Baptiste. Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot. Journal of Robotics No. 2014 (2014), pp.1-10.
https://search.emarefa.net/detail/BIM-1042867
American Medical Association (AMA)
Mbede, Jean Bosco& Mvogo Ahanda, Joseph Jean-Baptiste. Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot. Journal of Robotics. 2014. Vol. 2014, no. 2014, pp.1-10.
https://search.emarefa.net/detail/BIM-1042867
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1042867