Computed torque for restricted Lagrange-Euler systems via DAEs and LMIs
Keywords:
Nonlinear systems, Linear matrix inequality, Differential algebraic equations, Lagrange-Euler systems, Computed-torqueAbstract
An extension of the well-known computed-torque technique for restricted Lagrange-Euler systems is presented in this work. It is shown that adding reaction forces to the feedforward term as well as designing the feedback term via linear matrix inequalities allows computed torque to deal with trajectory tracking problems in closed kinematic chains. Implementation issues via index-1 differential algebraic equations and recently appeared toolboxes are discussed. A fully reproducible case study is included to illustrate the effectiveness of the proposal as well as a real-time implementation which point out that non-restricted plants are also amenable to the novel technique.
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