A dynamical linearizing feedback controller for robots with flexible joint

Abstract

Techniques of differential algebra are used to derive an observer-based controller applied to a flexible manipulator. A dynamical linearizing feedback controller is derived on the basis of Fliess generalized observability canonical form (GOCF). Our controller actually achieves both stability and tracking by linearising the tracking error. The controller is then of error-driven type; the dynamics of the error are estimated by an observer in the closed-loop. An analysis of the stability of the closed-loop system is given. Simulation results are presented for illustrating the performance of this observed based controller scheme, when it is applied to a mathematical model of a robot with flexible joints.