TY - JOUR
T1 - Robust Flat Filtering Control of a Nonlinear Manipulator-Direct Current Motor System
AU - Sira-Ramirez, H.
AU - Zurita-Bustamante, E. W.
AU - Luviano-Juarez, A.
N1 - Publisher Copyright:
Copyright © 2018 by ASME.
PY - 2018/2/1
Y1 - 2018/2/1
N2 - This paper presents a linear robust output reference trajectory tracking controller, addressed here as a flat filtering controller (FFC), for nonlinear differentially flat systems. Here, we illustrate the controller's performance, via digital computer simulations and, also, via laboratory experiments, carried out on a single link-direct current (DC) motor driven robot manipulator undergoing a reference trajectory tracking task. The proposed linear FFC only requires the output to be regulated of the composite system and none of the internal states of the resulting third-order nonlinear system. The controller is designed on the basis of a drastic simplification of the combined single link-DC motor dynamics to a, perturbed, third-order pure integration system. This demonstrates the robustness of the proposed scheme with respect to ignored nonlinear state-dependent, endogenous, disturbances and, also, to independent unstructured exogenous disturbances inevitable in an experimental setup. Simulation and experimental results, as well as comparisons with other controllers, are presented.
AB - This paper presents a linear robust output reference trajectory tracking controller, addressed here as a flat filtering controller (FFC), for nonlinear differentially flat systems. Here, we illustrate the controller's performance, via digital computer simulations and, also, via laboratory experiments, carried out on a single link-direct current (DC) motor driven robot manipulator undergoing a reference trajectory tracking task. The proposed linear FFC only requires the output to be regulated of the composite system and none of the internal states of the resulting third-order nonlinear system. The controller is designed on the basis of a drastic simplification of the combined single link-DC motor dynamics to a, perturbed, third-order pure integration system. This demonstrates the robustness of the proposed scheme with respect to ignored nonlinear state-dependent, endogenous, disturbances and, also, to independent unstructured exogenous disturbances inevitable in an experimental setup. Simulation and experimental results, as well as comparisons with other controllers, are presented.
UR - http://www.scopus.com/inward/record.url?scp=85030780173&partnerID=8YFLogxK
U2 - 10.1115/1.4037386
DO - 10.1115/1.4037386
M3 - Artículo
SN - 0022-0434
VL - 140
JO - Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
JF - Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
IS - 2
M1 - 021009
ER -