Robust Tracking of a Lightweight Manipulator System |
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Authors: | Karray F. Tafazolli S. Gueaieb W. |
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Affiliation: | (1) Department of Systems Design Engineering, University of Waterloo, Waterloo, ON, Canada, N2L 3G1;(2) Department of Electrical Engineering, University of British Columbia, Vancouver, BC, Canada, V6T 1Z4 |
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Abstract: | A robust control design for high performance joint trajectory tracking of a flexible lightweight manipulator system is proposed. The design is based on a combined controller-observer scheme involving the sliding manifold approach and the optimal interpolation technique. This controller provides the designer with an enhanced joint tracking performance when the system is subject to parametric variations due to structural disturbances caused by link flexibility and load uncertainties. The parametric variations are handled by sliding control and the estimation of the nonlinearly excited elastic dynamics by an optimal interpolator of the structure's dynamic responses. The design procedure is progressive, i.e., we start with a basic controller and then modify it in order to improve the performance. Closed loop simulations with the various designed controllers are used to validate the analytical results and to help choosing the most suitable one. |
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Keywords: | flexible manipulator sliding control optimal interpolator |
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