U-002

Global Adaptive Partial State Feedback Tracking Control of Rigid-Link Flexible-Joint Robots

Authors: W.E. Dixon, E. Zergeroglu, D.M. Dawson, and M. W. Hannan
Affiliation: Clemson University

Abstract
This paper presents a solution to the global adaptive partial state feedback control problem for rigid-link, flexible-joint (RLFJ) robots. The proposed tracking controller adapts for parametric uncertainty throughout the entire mechanical system while only requiring link and actuator position measurements. A nonlinear filter is employed to eliminate the need for link velocity measurements while a set of linear filters is utilized to eliminate the need for actuator velocity measurements. A backstepping control strategy is utilized to illustrate global asymptotic link position tracking.

Warren Dixon
Doctoral Student
Department of Electrical and Computer Engineering
312 EIB, Clemson University
Clemson SC 29634
wdixon@eng.clemson.edu
Office (864) 656-7218
Fax (864) 656-7218

http://ece.clemson.edu/crb/students/wdixon/index.htm