Peter Staufer, Hubert Gattringer, Wolfgang Höbarth,
"Various Feedforward Schemes and a Passivity Based Backstepping Feedback Control of an Elastic Robot"
, in WILEY-VCH Verlag GmbH: Special Issue: 81st Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM), Vol. 10, Nummer 1, 11-2010
Various Feedforward Schemes and a Passivity Based Backstepping Feedback Control of an Elastic Robot
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Special Issue: 81st Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM)
Lightweight constructions in industry plants lead to elastic deflections causing vibrations and a loss in tracking precision. In order to keep the tracking error for these elastic multibody systems low, the proposed control strategies are combinations of feedforward and feedback schemes. In this work various implemented strategies for computing a feedforward control are proposed and compared, which can be calculated with some simplifications from the mathematical model of the elastic multibody system. Some of these are considering the elastic deflections. The stabilization of the error dynamics is achieved by a simple PD-joint control or passivity based backstepping. In this algorithm the system is split into subsystems and for these subsystems simple control concepts can be applied. The feedback control law of the total system is obtained by means of backstepping theory, considering the internal energy flows in the system. Experimental results are presented to verify the control strategies.