Abstract

The paper deals with the robust impact control of a simple mechanical system, reproducing the case of a single-link rigid robot, striking different environments, i.e., having different elastic/plastic characteristics. The goal is the design of a control scheme to bring the link in a stable contact with the environment, guaranteeing a desired value for the steady-state position of the link, compatible with the contact. As the dynamic parameters of the link and the stiffness properties of the environment are not known, the control solution must be robust with respect to the estimates of the unknown parameters, possibly used in the definition of the control law itself.The proposed control scheme is constituted (i) by a preliminary feedback control law, which partially compensates for the link dynamics, on the basis of inexact estimates of the link inertia and of the friction coefficient, and (ii) by a second feedback law, which assigns the closed-loop poles and compensates for the effects of the inexact knowledge of the link parameters and for the impact-induced forces, on the basis of the estimates provided by a reduced-order observer.The stability and robustness properties of the controlled system are analytically proven in the paper and validated by some experimental results.

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