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Flexible joint control : robustness analysis of the collocated and non-collocated feedbacks

Alazard, Daniel and Chrétien, Jean-Pierre Flexible joint control : robustness analysis of the collocated and non-collocated feedbacks. (1993) In: IROS'93, IEEE Conference on Intelligent Robot Systems, 26-30 Juillet 1993, Yokohama, Japon .

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Official URL: http://dx.doi.org/10.1109/IROS.1993.583920


In this paper, we propose a discussion on the robustness and performance properties of a proportional-derivative controller applied to a very flexible joint. Because of the flexible mode due to in-joint compliance, the classical collocated control does not allow to obtain good rigid mode dynamics with a correct phase margin in low and high frequency, and the non-collocated control does not allow to damp correctly the rotor mode. The simultaneous analysis of discrete root loci and Nichols plots leads to a phase control law with a derivative term built from both input and output velocities. Simulations taking into account various real non-linearities and measurement imperfections are proposed to validate this improved control design.

Item Type:Conference or Workshop Item (Paper)
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
French research institutions > Centre National d'Études Spatiales - CNES (FRANCE)
French research institutions > Office National d'Etudes et Recherches Aérospatiales - ONERA (FRANCE)
Laboratory name:
Département de Mathématiques, Informatique, Automatique - DMIA (Toulouse, France) - Automatique, Dynamique et Interface des Systèmes - ADIS
Deposited On:21 Jan 2009 16:52

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