Comparison of reduced state and full state passive control laws for flexible joint robots
Passivity based control laws have interesting features, such as robustness of stability and natural extension to passive controller-observer design. We present reduced and full state passive control laws for a flexible joint robot. We show that even though reduced state feedback guarantees global as...
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creator | Sicard, P. Javad Sadr, S.M. |
description | Passivity based control laws have interesting features, such as robustness of stability and natural extension to passive controller-observer design. We present reduced and full state passive control laws for a flexible joint robot. We show that even though reduced state feedback guarantees global asymptotic stability, the dynamic performance is poor since it is driven by the natural modes of the mechanical structure. However, full state feedback can be used to inject damping and accelerate the link state behavior. The robustness of the control law permits the use of an approximate feedforward signal to reduce the complexity of the control algorithm. |
doi_str_mv | 10.1109/CCECE.1995.528077 |
format | Conference Proceeding |
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The robustness of the control law permits the use of an approximate feedforward signal to reduce the complexity of the control algorithm.</description><subject>Acceleration</subject><subject>Actuators</subject><subject>Algorithms</subject><subject>Asymptotic stability</subject><subject>Computer simulation</subject><subject>Control systems</subject><subject>Control theory</subject><subject>Damping</subject><subject>Feedback</subject><subject>Feedforward neural networks</subject><subject>Manipulators</subject><subject>Mathematical models</subject><subject>Perturbation techniques</subject><subject>Robust control</subject><subject>Robust stability</subject><subject>Robustness (control systems)</subject><subject>Service robots</subject><subject>Sliding mode control</subject><subject>Springs</subject><subject>State feedback</subject><subject>System stability</subject><subject>Universal joints</subject><issn>0840-7789</issn><issn>2576-7046</issn><isbn>0780327667</isbn><isbn>9780780327665</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1995</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNp90DlrwzAcBXDRA5qk_QDtpKmdnOo-xmLSAwJdsnQysv0XKCiWKzk9vn0Dydzp8eDHGx5Ct5QsKSX2sa5X9WpJrZVLyQzR-gzNmNSq0kSoczQn2hDOtFL6As2IEaTS2tgrNC9lSwgRRokZ-qjTbnQ5lDTg5HGGft9Bj8vkJsBu6LHfx3iqoyslfAHu0jDlFHF03wX7lLGP8BPaCHibwjDhnNo0lWt06V0scHPKBdo8rzb1a7V-f3mrn9ZVoJJMFVeadBx855QzzGoOWrQ9NUpKcEwI4ThtqTWe0bZjTlprWkeY0t4I2jm-QA_H2TGnzz2UqdmF0kGMboC0L40WUgslKTvI-38l05zJwy0HeHeEAQCaMYedy7_N8WP-B7Avbns</recordid><startdate>1995</startdate><enddate>1995</enddate><creator>Sicard, P.</creator><creator>Javad Sadr, S.M.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope><scope>7SC</scope><scope>7SP</scope><scope>8FD</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>7TC</scope></search><sort><creationdate>1995</creationdate><title>Comparison of reduced state and full state passive control laws for flexible joint robots</title><author>Sicard, P. ; 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We present reduced and full state passive control laws for a flexible joint robot. We show that even though reduced state feedback guarantees global asymptotic stability, the dynamic performance is poor since it is driven by the natural modes of the mechanical structure. However, full state feedback can be used to inject damping and accelerate the link state behavior. The robustness of the control law permits the use of an approximate feedforward signal to reduce the complexity of the control algorithm.</abstract><pub>IEEE</pub><doi>10.1109/CCECE.1995.528077</doi><tpages>4</tpages></addata></record> |
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identifier | ISSN: 0840-7789 |
ispartof | Conference proceedings - Canadian Conference on Electrical and Computer Engineering, 1995, Vol.1, p.75-78 vol.1 |
issn | 0840-7789 2576-7046 |
language | eng |
recordid | cdi_ieee_primary_528077 |
source | IEEE Electronic Library (IEL) Conference Proceedings |
subjects | Acceleration Actuators Algorithms Asymptotic stability Computer simulation Control systems Control theory Damping Feedback Feedforward neural networks Manipulators Mathematical models Perturbation techniques Robust control Robust stability Robustness (control systems) Service robots Sliding mode control Springs State feedback System stability Universal joints |
title | Comparison of reduced state and full state passive control laws for flexible joint robots |
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