Adaptive Control of Flexible-joint Robots without Velocity Measurements

摘要

Two nonlinear tracking differentiators (TDs) are incorporated into the conventional adaptive feedback control architecture for tracking control of rigid-link, flexible-joint robots, to eliminate the need for link and actuator velocity measurements. The TD is constructed based on the fact that numerical integration can provide more stable and accurate results than numerical differentiation in the presence of noise. The main advantage of the developed TD is its model-free, high robustness to noise and parameter variation, and easy to implement with simple calculation. Simulations have shown good performance of the TD and the closed loop system.