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Adaptive augmented state feedback control for an experimental planar two-link flexible manipulator

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3 Author(s)
M. Bai ; Dept. of Measure. & Control, Duisburg Univ., Germany ; D. H. Zhou ; H. Schwarz

An adaptive augmented state feedback control (AASFC) approach is presented for the two-link flexible manipulator, the Duisburg flexible manipulator 01 (DFM01). In order to describe the DFM01 accurately, two disturbance variables are introduced as augmented states. The controller design is based on the steady-state LQR technique in conjunction with an adaptive compensator, where all states are adaptively estimated by employing the strong tracking filter. This control strategy has been tested on DFM01 for both point-to-point and tracking control of the end-effector with different tip mass. Experimental results show that the controller is quite satisfactory, and has strong robustness against payload variations

Published in:

IEEE Transactions on Robotics and Automation  (Volume:14 ,  Issue: 6 )