Design of Composite Control For Flexible Joint Robots With Saturating Actuators
نویسندگان
چکیده
In this paper a method of controller design for FJRs considering actuator saturation and other practical limitations is proposed. In the proposed method the need of powerful actuator is skipped over by decreasing the bandwidth of the fast controller during critical times. In order to accomplish this, a supervisory control is employed which uses fuzzy logic to adjust the proper forward path gain. This prevents instability caused by saturation without a great change in performance. All other practical considerations to make the controller implementable are taken into account and finally the performance of the proposed controller is verified through simulation.
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