A robust feedback linearization approach for tracking control of flexible-link manipulators using an EKF disturbance estimator

S. F. Atashzar, H. A. Talebi, F. Towhidkhah

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics
Pages1791-1796
Number of pages6
DOIs
StatePublished - 2010
Event2010 IEEE International Symposium on Industrial Electronics, ISIE 2010 - Bari, Italy
Duration: Jul 4 2010Jul 7 2010

Publication series

NameIEEE International Symposium on Industrial Electronics

Conference

Conference2010 IEEE International Symposium on Industrial Electronics, ISIE 2010
CountryItaly
CityBari
Period7/4/107/7/10

Keywords

  • Disturbance estimation
  • Extended Kalman Filter
  • Flexible link manipulator
  • Non-minimum phase systems
  • Robust feedback linearization

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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    Atashzar, S. F., Talebi, H. A., & Towhidkhah, F. (2010). A robust feedback linearization approach for tracking control of flexible-link manipulators using an EKF disturbance estimator. In ISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics (pp. 1791-1796). [5637711] (IEEE International Symposium on Industrial Electronics). https://doi.org/10.1109/ISIE.2010.5637711