Design and simulation of robust composite controllers for flexible joint robots

In this paper the contr ol of exible joint manipulators is studie d in detail A composite contr ol algorithm is pro posed for the exible joint robots which consists of two main parts Fast contr ol uf which guar antees that the fast dynamics remains asymptotically stable and the corre sponding integral manifold remains invariant Slow control us itself consists of a robust PID designed based on the rigid model and a corrective term designed based on the re duc ed exible model The stability of the overall closed loop system is proved to be UUB stable by Lyapunov stability analysis Finally the e ectiveness of the proposed control law is veri e d through simulations It is shown that the proposed contr ol law ensure the robust stability and perfor mance despite the modeling uncertainties