吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (6): 1906-1912.doi: 10.13229/j.cnki.jdxbgxb201506026

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Design of robust controller for robot flexible joint with friction characteristic

CHEN Jian, GE Lian-zheng, LI Rui-feng   

  1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
  • Received:2014-03-17 Online:2015-11-01 Published:2015-11-01

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Abstract: A robust controller framework for flexible joint robot is presented, in which the effect of nonlinear friction on control performance is considered. The nonlinear friction is denoted as inverse additive output uncertainty relative to the nominal model. Based on this the describing function is analyzed in frequency domain, and the weighting function of nonlinear friction is further calculated. Combing the friction uncertainty, the Linear Matrix Inequality (LMI) optimization is proposed as the benchmark for controller design, which leads to good performance robustness. Simulation results show that the proposed controller can provide excellent command tracking and regulation performance.

Key words: robot joint with flexibility, nonlinear friction, describing function method, robust control

CLC Number: 

  • TP241.2
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