Flatness-based control in successive loops for dual-arm robotic manipulators

Gerasimos Rigatos, Krishna Busawon, Masoud Abbaszadeh, Jorge Pomares, Zhiwei Gao, Farouk Zouari

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this article, a multi-loop flatness-based controller is proposed for the dynamic model of a dual-arm robot. The control problem for this robotic system is solved with the use of a flatness-based control approach which is implemented in successive loops. To apply the multi-loop flatness-based control scheme, the state-space model of the dual-arm robotic manipulator is separated into subsystems, which are connected in cascading loops. Each one of these subsystems can be viewed independently as a differentially flat system and control about it can be performed with inversion of its dynamics as in the case of input-output linearized flat systems. The state variables of the subsequent (i + 1)-th subsystem become virtual control inputs for the preceding i-th subsystem. In turn, real control inputs are applied to the last subsystem. The whole control method is implemented in successive loops and its global stability properties are also proven through Lyapunov stability analysis.
Original languageEnglish
Title of host publication2024 IEEE Conference on Control Technology and Applications (CCTA)
PublisherIEEE
Pages793-798
Number of pages6
ISBN (Electronic)9798350370942
ISBN (Print)9798350370959
DOIs
Publication statusPublished - 21 Aug 2024

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