Dynamic surface controller for flexible joint robots without velocity measurements

Sung Jin Yoo, Yoon Ho Choi, Jin Bae Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper proposes an dynamic surface control approach for flexible-joint (FJ) robots without velocity measurements. We develop a link position tracking controller using the observer dynamic surface design procedure. From the controller design procedure, we show that the proposed controller can be simpler than the observer backstepping controller. It is proved that all signals in a closed-loop system are uniformly ultimately bounded from the Lyapunov stability analysis. Finally, the simulation of a three-link FJ robot are performed to verify the effectiveness of the proposed control scheme.

Original languageEnglish
Title of host publicationICCAS 2007 - International Conference on Control, Automation and Systems
Pages1098-1102
Number of pages5
DOIs
Publication statusPublished - 2007 Dec 1
EventInternational Conference on Control, Automation and Systems, ICCAS 2007 - Seoul, Korea, Republic of
Duration: 2007 Oct 172007 Oct 20

Other

OtherInternational Conference on Control, Automation and Systems, ICCAS 2007
CountryKorea, Republic of
CitySeoul
Period07/10/1707/10/20

Fingerprint

Velocity measurement
Robots
Controllers
Backstepping
Control surfaces
Closed loop systems
Telecommunication links

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Yoo, S. J., Choi, Y. H., & Park, J. B. (2007). Dynamic surface controller for flexible joint robots without velocity measurements. In ICCAS 2007 - International Conference on Control, Automation and Systems (pp. 1098-1102). [4407063] https://doi.org/10.1109/ICCAS.2007.4407063
Yoo, Sung Jin ; Choi, Yoon Ho ; Park, Jin Bae. / Dynamic surface controller for flexible joint robots without velocity measurements. ICCAS 2007 - International Conference on Control, Automation and Systems. 2007. pp. 1098-1102
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Yoo, SJ, Choi, YH & Park, JB 2007, Dynamic surface controller for flexible joint robots without velocity measurements. in ICCAS 2007 - International Conference on Control, Automation and Systems., 4407063, pp. 1098-1102, International Conference on Control, Automation and Systems, ICCAS 2007, Seoul, Korea, Republic of, 07/10/17. https://doi.org/10.1109/ICCAS.2007.4407063

Dynamic surface controller for flexible joint robots without velocity measurements. / Yoo, Sung Jin; Choi, Yoon Ho; Park, Jin Bae.

ICCAS 2007 - International Conference on Control, Automation and Systems. 2007. p. 1098-1102 4407063.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Yoo SJ, Choi YH, Park JB. Dynamic surface controller for flexible joint robots without velocity measurements. In ICCAS 2007 - International Conference on Control, Automation and Systems. 2007. p. 1098-1102. 4407063 https://doi.org/10.1109/ICCAS.2007.4407063