TY - GEN
T1 - A robust feedback linearization approach for tracking control of flexible-link manipulators using an EKF disturbance estimator
AU - Atashzar, S. F.
AU - Talebi, H. A.
AU - Towhidkhah, F.
PY - 2010
Y1 - 2010
N2 - This paper proposes a composite control approach based on the robust feedback linearization and Extended Kalman Filter (EKF) to improve the tracking performance for the flexible link manipulators in the presence of torque disturbances. In this regard, first an EKF is employed to estimate the disturbances, utilizing the uncertain nonlinear model of flexible link system in addition to noisy measurement data. The estimate is then used in the control strategy in order to eliminate the destructive effects of the disturbances. It can also be used as interaction data in some applications such as telerobotics. In the next step, a Lyapunov Redesign Feedback Linearization (LRFL) approach is utilized in order to alleviate the effect of model uncertainties, disturbance estimation error as well as nonlinearities presented in the dynamics of the redefined output. This output is selected as a point close to the tip to avoid the difficulties associated with the non-minimum phase behavior of the tip position. Simulation results performed on a single-link flexible manipulator are presented to illustrate the significant capability of this technique in tracking performance as well as disturbance estimation ability in uncertain and noisy situations.
AB - This paper proposes a composite control approach based on the robust feedback linearization and Extended Kalman Filter (EKF) to improve the tracking performance for the flexible link manipulators in the presence of torque disturbances. In this regard, first an EKF is employed to estimate the disturbances, utilizing the uncertain nonlinear model of flexible link system in addition to noisy measurement data. The estimate is then used in the control strategy in order to eliminate the destructive effects of the disturbances. It can also be used as interaction data in some applications such as telerobotics. In the next step, a Lyapunov Redesign Feedback Linearization (LRFL) approach is utilized in order to alleviate the effect of model uncertainties, disturbance estimation error as well as nonlinearities presented in the dynamics of the redefined output. This output is selected as a point close to the tip to avoid the difficulties associated with the non-minimum phase behavior of the tip position. Simulation results performed on a single-link flexible manipulator are presented to illustrate the significant capability of this technique in tracking performance as well as disturbance estimation ability in uncertain and noisy situations.
KW - Disturbance estimation
KW - Extended Kalman Filter
KW - Flexible link manipulator
KW - Non-minimum phase systems
KW - Robust feedback linearization
UR - http://www.scopus.com/inward/record.url?scp=78650401350&partnerID=8YFLogxK
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U2 - 10.1109/ISIE.2010.5637711
DO - 10.1109/ISIE.2010.5637711
M3 - Conference contribution
AN - SCOPUS:78650401350
SN - 9781424463916
T3 - IEEE International Symposium on Industrial Electronics
SP - 1791
EP - 1796
BT - ISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics
T2 - 2010 IEEE International Symposium on Industrial Electronics, ISIE 2010
Y2 - 4 July 2010 through 7 July 2010
ER -