期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2017
卷号：14
期号：6
DOI：10.1177/1729881417745676
出版社：SAGE Publications
摘要：In this article, a tracking controller for flexible-joint robot manipulators with non-full-state feedback is investigated based on virtual decomposition control (VDC) theory. First, virtual decomposition principle is applied to decouple the entire system of flexible-joint robot manipulator into rigid-link subsystems and flexible-joint subsystems; then, subcontrollers are designed correspondingly for each link or joint subsystem. Importantly, to realize the closed-loop tracking control without state measurements on the link side, an extended Kalman filter is designed to achieve the proposed VDC approach via non-full-state feedback. In addition, strict stability analysis of the control system is given according to the theory of virtual stability and Lyapunov stability. Finally, validation example is provided to verify the proposed control approach.
