Improving tracking accuracy of a MIMO state feedback controller for elastic joint robots

Luc Le-Tien; Alin Albu-Schaffer

doi:10.1109/CDC.2014.7040099

Improving tracking accuracy of a MIMO state feedback controller for elastic joint robots

Luc Le-Tien
, Alin Albu-Schaffer

Deutsches Zentrum für Luft- und Raumfahrt e.V. (DLR)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

12 Scopus citations

Abstract

In this paper a control scheme is addressed to improve the tracking accuracy of flexible joint robots without replacing the structure of a MIMO state feedback controller which is used effectually with the DLR medical robots. By using the desired position, the new desired link torque, as well as their derivatives the effects of nonlinear dynamics are compensated and the tracking accuracy is thereby increased. Hereby, the new desired link torque takes the whole rigid body dynamics into account, not only the friction and gravitation compensation terms. A stability analysis based on the Lyapunov theory and Barbalat's lemma is given for this new MIMO state feedback control scheme. Experimental results validate the practical efficiency of the approach.

Original language	English
Title of host publication	53rd IEEE Conference on Decision and Control,CDC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4548-4553
Number of pages	6
Edition	February
ISBN (Electronic)	9781479977468
DOIs	https://doi.org/10.1109/CDC.2014.7040099
State	Published - 2014
Externally published	Yes
Event	2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States Duration: 15 Dec 2014 → 17 Dec 2014

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Number	February
Volume	2015-February
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014
Country/Territory	United States
City	Los Angeles
Period	15/12/14 → 17/12/14

Keywords

State feedback control
decoupling control
flexible joint robots

Access to Document

10.1109/CDC.2014.7040099

Cite this

Le-Tien, L., & Albu-Schaffer, A. (2014). Improving tracking accuracy of a MIMO state feedback controller for elastic joint robots. In 53rd IEEE Conference on Decision and Control,CDC 2014 (February ed., pp. 4548-4553). Article 7040099 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2015-February, No. February). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2014.7040099

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title = "Improving tracking accuracy of a MIMO state feedback controller for elastic joint robots",

abstract = "In this paper a control scheme is addressed to improve the tracking accuracy of flexible joint robots without replacing the structure of a MIMO state feedback controller which is used effectually with the DLR medical robots. By using the desired position, the new desired link torque, as well as their derivatives the effects of nonlinear dynamics are compensated and the tracking accuracy is thereby increased. Hereby, the new desired link torque takes the whole rigid body dynamics into account, not only the friction and gravitation compensation terms. A stability analysis based on the Lyapunov theory and Barbalat's lemma is given for this new MIMO state feedback control scheme. Experimental results validate the practical efficiency of the approach.",

keywords = "State feedback control, decoupling control, flexible joint robots",

author = "Luc Le-Tien and Alin Albu-Schaffer",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 ; Conference date: 15-12-2014 Through 17-12-2014",

year = "2014",

doi = "10.1109/CDC.2014.7040099",

language = "English",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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pages = "4548--4553",

booktitle = "53rd IEEE Conference on Decision and Control,CDC 2014",

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}

Le-Tien, L & Albu-Schaffer, A 2014, Improving tracking accuracy of a MIMO state feedback controller for elastic joint robots. in 53rd IEEE Conference on Decision and Control,CDC 2014. February edn, 7040099, Proceedings of the IEEE Conference on Decision and Control, no. February, vol. 2015-February, Institute of Electrical and Electronics Engineers Inc., pp. 4548-4553, 2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014, Los Angeles, United States, 15/12/14. https://doi.org/10.1109/CDC.2014.7040099

Improving tracking accuracy of a MIMO state feedback controller for elastic joint robots. / Le-Tien, Luc; Albu-Schaffer, Alin.
53rd IEEE Conference on Decision and Control,CDC 2014. February. ed. Institute of Electrical and Electronics Engineers Inc., 2014. p. 4548-4553 7040099 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2015-February, No. February).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Le-Tien, Luc

AU - Albu-Schaffer, Alin

PY - 2014

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N2 - In this paper a control scheme is addressed to improve the tracking accuracy of flexible joint robots without replacing the structure of a MIMO state feedback controller which is used effectually with the DLR medical robots. By using the desired position, the new desired link torque, as well as their derivatives the effects of nonlinear dynamics are compensated and the tracking accuracy is thereby increased. Hereby, the new desired link torque takes the whole rigid body dynamics into account, not only the friction and gravitation compensation terms. A stability analysis based on the Lyapunov theory and Barbalat's lemma is given for this new MIMO state feedback control scheme. Experimental results validate the practical efficiency of the approach.

AB - In this paper a control scheme is addressed to improve the tracking accuracy of flexible joint robots without replacing the structure of a MIMO state feedback controller which is used effectually with the DLR medical robots. By using the desired position, the new desired link torque, as well as their derivatives the effects of nonlinear dynamics are compensated and the tracking accuracy is thereby increased. Hereby, the new desired link torque takes the whole rigid body dynamics into account, not only the friction and gravitation compensation terms. A stability analysis based on the Lyapunov theory and Barbalat's lemma is given for this new MIMO state feedback control scheme. Experimental results validate the practical efficiency of the approach.

KW - State feedback control

KW - decoupling control

KW - flexible joint robots

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U2 - 10.1109/CDC.2014.7040099

DO - 10.1109/CDC.2014.7040099

M3 - Conference contribution

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T3 - Proceedings of the IEEE Conference on Decision and Control

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Le-Tien L, Albu-Schaffer A. Improving tracking accuracy of a MIMO state feedback controller for elastic joint robots. In 53rd IEEE Conference on Decision and Control,CDC 2014. February ed. Institute of Electrical and Electronics Engineers Inc. 2014. p. 4548-4553. 7040099. (Proceedings of the IEEE Conference on Decision and Control; February). doi: 10.1109/CDC.2014.7040099

Improving tracking accuracy of a MIMO state feedback controller for elastic joint robots

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Keywords

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