유연한 관절 매니퓰레이터의 빠른 모드 안정화를 위한 슬라이딩 합성 제어기 설계

A Sliding Composite Controller Design for Fast Mode Stabilization of Flexible Joint Manipulators

This paper proposes a sliding composite control law for the flexible joint robot mani-pulators, which incorporate the additional stabilizing control law with sliding property. The singularly perturbed models in this research include inertia moments which are functions of the deformations of actuators as well as link positions. The value of renewed1y defined fast controller variable is computed from the corrected reduced-order model without additional computational loads. Proposed schemes are compared with conventional one. The simulations for 2 DOF flexible joint manipulator show that the proposed schemes are more stable than conventional scheme, and especially effective for the manipulator with high joint-flexibilities.