科研之友
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摘要
For the output feedback tracking control of a flexible joint manipulator, an iterative learning observer (ILO)-based robust controller was proposed. First, the mathematical model of the flexible joint manipulator was established, and the influence caused by an immeasurable state of system and model uncertainties to the control accuracy was analyzed. The ILO was proposed to estimate the composite disturbance arising from the interior system states and the uncertainties of model online. A command-filtered backstepping controller was designed to track the input command. Finally, global stability of the closed-loop system was analyzed based on Lyapunov theory. Simulations show that the proposed control strategy could successfully deal with the output feedback tracking control for the flexible joint manipulator. The proposed control strategy demonstrated high control accuracy, with robustness against system uncertainties.
