[1]GUO Yi,LIU Jinkun.Position feedback dynamic surface control for flexible joint robots with actuator saturation[J].CAAI Transactions on Intelligent Systems,2013,8(1):21-27.[doi:10.3969/j.issn.1673-4785.201204012]
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Position feedback dynamic surface control for flexible joint robots with actuator saturation

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 8 Number of periods: 2013 1 Page number: 21-27 Column: 学术论文—智能系统 Public date: 2013-03-25
Title:
Position feedback dynamic surface control for flexible joint robots with actuator saturation
Author(s):
GUO Yi;  LIU Jinkun
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
Keywords:
flexible joint robots;  dynamic surface control;  actuator saturation;  neural network;  observer
CLC:
TP24
DOI:
10.3969/j.issn.1673-4785.201204012
Abstract:
The research explored the compensation of flexiblejoint robot′s actuator saturation using a dynamic surface controller for tracking control of link position. Under the design of a general dynamic surface control， an observer was designed to aid in the estimation of unknown velocity states. Radical basis function (RBF) neural network was used to examine saturation nonlinearity and “minimal learning parameter”technique for the reduction of computational burden. Based on the Lyapunov stability analysis, it was shown that the control strategy could guarantee the semi global stability of the closed loop system and arbitrarily small tracking error by adjusting the controller parameters. The simulation results indicated that the proposed control system may overcome the external disturbances, compensate for the existing actuator saturation of systems effectively, and realize more accurate tracking control for flexible joint robots. The proposal eliminates the problem of “explosion of complexity” existing in traditional backstepping approaches and simplifies controller design procedures plainly.
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