Order reduction of control and estimation problems for flexible joint manipulator

M. Osintcev, V. Sobolev

Korolyov Samara State Aerospace University (National Research University)

Abstract: The integral manifold method is used in the paper for controller design for manipulators with flexible joints in the case of a small friction. For a class of nonlinear systems a nonlinear controller, that achieves asymptotic tracking of given trajectory, is designed. It shows the existence of a lower order control problems, which are equivalent to an original singularly perturbed problems with initial conditions restricted to a slow integral manifold.

Keywords: flexible joint manipulator, LQR, optimal control, integral manifold.

UDC: 517.9

Received: 12.03.2013