A family of asymptotically stabilizing tracking con- trol laws is recently introduced for a class of non- linear Hamiltonian systems. These control laws all have the structure of a sum of a feedback designed based on the passivity consideration and a feedfor- ward obtained via a procedure that is closely related to plant inversion. In this paper, calculation of the feedforward is considered in detail for both flexible joint robots and a single planar flexible link. The latter also leads to a general result relating inverse dynamics to model reference control in the case of linear systems.
Feedforward calculation in tracking control of flexible robots / Lanari, Leonardo; J. T., Wen. - 2:(1991), pp. 1403-1408. (Intervento presentato al convegno Conference on Decision and Control tenutosi a Brighton; England) [10.1109/CDC.1991.261630].
Feedforward calculation in tracking control of flexible robots
LANARI, Leonardo
;
1991
Abstract
A family of asymptotically stabilizing tracking con- trol laws is recently introduced for a class of non- linear Hamiltonian systems. These control laws all have the structure of a sum of a feedback designed based on the passivity consideration and a feedfor- ward obtained via a procedure that is closely related to plant inversion. In this paper, calculation of the feedforward is considered in detail for both flexible joint robots and a single planar flexible link. The latter also leads to a general result relating inverse dynamics to model reference control in the case of linear systems.| File | Dimensione | Formato | |
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