Abstract
AbstractIn this paper, the extended state dependent Riccati equation (ESDRE) method is applied to robotic joint control. The control scheme compares the predicted reference state and the actual state, thus rapidly reducing the steady-state error, even in the presence of significant model uncertainties. The state dependent coefficient (SDC) model and the corresponding control law are formulated for the discrete state-space by linear interpolation among operating points. The approach is validated on a 1-DOF rigid robotic manipulator which major nonlinearities are the velocity dependent Stribeck friction and the position dependent gravity. Considering the relative weighting matrices as parameters of the underlying optimization problem by control design the state dependent feedback function is determined. The developed ESDRE control proves superior compared to the PID reference controller with auxiliary gravity compensator. Considering the robust performance and ease of implementation the proposed ESDRE scheme constitutes a serious competitor to the established model-based robot control strategies.
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