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Various Feedforward Schemes and a Passivity Based Backstepping Feedback Control of an Elastic Robot
Author(s) -
Staufer Peter,
Gattringer Hubert,
Höbarth Wolfgang,
Bremer Hartmut
Publication year - 2010
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201010338
Subject(s) - feed forward , backstepping , passivity , control theory (sociology) , control engineering , computer science , tracking error , vibration , control (management) , simple (philosophy) , adaptive control , engineering , artificial intelligence , physics , electrical engineering , philosophy , epistemology , quantum mechanics
Lightweight constructions in industry plants lead to elastic deflections causing vibrations and a loss in tracking precision. In order to keep the tracking error for these elastic multibody systems low, the proposed control strategies are combinations of feedforward and feedback schemes. In this work various implemented strategies for computing a feedforward control are proposed and compared, which can be calculated with some simplifications from the mathematical model of the elastic multibody system. Some of these are considering the elastic deflections. The stabilization of the error dynamics is achieved by a simple PD‐joint control or passivity based backstepping. In this algorithm the system is split into subsystems and for these subsystems simple control concepts can be applied. The feedback control law of the total system is obtained by means of backstepping theory, considering the internal energy flows in the system. Experimental results are presented to verify the control strategies. (© 2010 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)