Paper Info
Title
Robustness Of A Flatness Based Controller Against Parametric Uncertainties For A Class Of Under-Actuated Planar Manipulators
Abstract
Differential flatness provides a systematic approach to plan and control feasible trajectories for underactuated nonlinear systems. Previously [1], the authors have developed a methodology to design a class of under-actuated planar manipulators to be differentially flat. This paper investigates robustness of this flatness based control with respect to parametric uncertainties. Existing literature for robustness in this regard addresses fully actuated systems and underactuated systems where the flat output state does not depend on system parameters. In both these scenarios, the flat output state (with respect to which the controller is designed) is directly available from sensor measurements. However, in general for an under-actuated differentially flat system, the flat output state depends on the measurable original system state through an invertible transformation containing system parameters. In such a scenario with parametric uncertainty, the flat output states can not be measured exactly. This paper addresses robustness against parametric uncertainties in this scenario for a specific class of planar under-actuated manipulators. It is shown that if the transformation is known accurately and only the dynamic model is uncertain a robust control strategy can guarantee exponential stability. It is also shown that in the presence of uncertainties in the transformation, the tracking error can be bounded from above. The effectiveness of this robust control strategy is demonstrated through simulations with a 3-DOF robot.
Year
Venue
Field
2017
2017 AMERICAN CONTROL CONFERENCE (ACC)
Flatness (systems theory),Control theory,Nonlinear system,Control theory,Computer science,Robustness (computer science),Control engineering,Exponential stability,Parametric statistics,Robust control,Underactuation
DocType
ISSN
Citations 
Conference
0743-1619
0
PageRank 
References 
Authors
0.34
4
2
Name
Order
Citations
PageRank
Vivek Sangwan1133.68
Sunil K. Agrawal226957.02