Control design for flexible joint manipulators: mismatchhed uncertainty and practical stability

摘要

We adopt the Lyapunov min-max approach for robust control design (Corless [2] and Leitmann [7]) for flexible joint manipulators.The main difficulty in directly applying the work in this area to flexible joint manipulators is the lack of the matching condition.We propose to overcome this difficulty by first introducing a state transformation.This transformation is only bbased on the possible bound of uncertainty and is feasible.The transformed system is matched and therefore the robust control can be designed straightforwardly. This in turn means that the controlled transformed system is practically stable.We then carry out a detailed analysis for the corresponding analysis of the original system.It can be shown that the original system is also practically stable.