Abstract
In this paper, we incorporate velocity observer design into the virtual decomposition control (VDC) strategy of an n-DoF open chain robotic manipulator. Descending from the VDC strategy, the proposed design is based on decomposing the n-DoF manipulator into subsystems, i.e., rigid links and joints, for which the decentralized controller-observer implementation can be done locally. Similar to VDC, the combined controller-observer design is passivity-based, and we show that it achieves semiglobal exponential convergence of the tracking error. The convergence analysis is carried out using Lyapunov functions based on the observer and controller error dynamics. The proposed design is demonstrated in a simulation study of a 2-DoF open chain robotic manipulator in the vertical plane.
Original language | English |
---|---|
Pages (from-to) | 2529-2536 |
Journal | IEEE Transactions on Automatic Control |
Volume | 67 |
Issue number | 5 |
Early online date | May 2021 |
DOIs | |
Publication status | Published - May 2022 |
Publication type | A1 Journal article-refereed |
Keywords
- decentralized controller-observer design
- Dynamics
- Manipulator dynamics
- nonlinear control
- Nonlinear dynamical systems
- Observers
- Robots
- Stability criteria
- Torque
- velocity observer
- virtual decomposition control
Publication forum classification
- Publication forum level 3
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering