Control of Flexible Joint Robot Based on Motor State Feedback and Dynamic Surface Approach

摘要

A controller based on dynamic surface control and observer is proposed by using motor state feedback for trajectory tracking of flexible joint robot with uncertain link dynamic model. Considering the link state information cannot be obtained, an observer is designed to estimate the link state information, and a dynamic surface controller is proposed based on link state observer. The controller based on the observer compared to backstepping controller avoids the repeated differentiation problem. At the same time, the dynamic surface method avoids the measurement of high order signal. The simulation results show that the designed controller has a good trajectory tracking effect, which effectively suppresses the residual vibration of the flexible joint robot. Moreover, the proposed controller and observer are robust to the uncertainty and external disturbance of the link dynamic model. The proposed controller can be directly applied in the flexible joint robot without installing additional sensors, which is very important for industrial applications.