Feedback linearization based control for trajectory tracking of a 2 degree of freedom whisker

YAŞAR C. F., Garcia F. J. C., Batlle V. F.

13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2010, Nagoya, Japan, 31 August - 03 September 2010, pp.324-331 identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1142/9789814329927_0041
  • City: Nagoya
  • Country: Japan
  • Page Numbers: pp.324-331
  • Keywords: Input state linearization, Motion controllers, Vibration suppression, Whiskers
  • Yıldız Technical University Affiliated: Yes


This paper presents an alternative for controlling and positioning a two degree of freedom flexible link-whisker-. The aim is the end-point precise position control with effective vibration suppression. The proposed control scheme makes use of an inner loop to control the whisker actuator position and an outer loop that cancels the vibrations due to the whisker flexural dynamics. A new algebraic regulator is designed to control the actuators. This regulator has to cancel the non-modeled components of the friction without a previous estimation. In order to control the vibration, an input state feedback linearization is used and the closed loop poles of the system are placed taking into account the control signal limit that is allowable before the actuators saturation. The simulations show a perfect tracking of the trajectory at the whisker tip.