Robust Control for Flexible Joint Robots with A Supervisory Control to Remedy Actuator Saturation

In this paper a controller design method for flexible joint robots (FJR), considering actuator saturation is proposed and its robust stability is thoroughly analyzed. This method consists of a composite control structure, with a PD controller on the fast dynamics and a PID controller on slow dynamics Moreover, the need of powerful actuator is remedied by decreasing the bandwidth of the fast controller during critical occasions, with the use of a supervisory loop

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