Passivity-Based Control Improvement of Single-Link Flexible Manipulators by a Two-Degree-of-Freedom PID Motor Controller

Andres San Millan Rodriguez, Emiliano Pereira González

Research output: Chapter in Book/Report/Conference proceedingPublished conference contribution

1 Citation (Scopus)


A new approach to a previous passivity-based control scheme of single-link flexible manipulators is presented herein. Such previous scheme achieves precise positioning of the link tip by combining a position angular control of the motor (inner loop) with a link vibration damping (outer loop), which can be designed independently by decoupling joint and link dynamics with a linear strain feedback. Although, precise positioning can be achieved under large tip payload changes, the used inner loop cannot eliminate the steady-state position error due to the nonlinearities present in the motor. The contribution presented in this work consists of using a two-degree of freedom PID motor controller to solve this problem, eliminating thus the steady-state error while also improving the settling time of the angular position. Simulation and experimental results are carried out to illustrate these improvements.
Original languageEnglish
Title of host publicationROBOT2013
Subtitle of host publicationFirst Iberian Robotics Conference. Advances in Intelligent Systems and Computing
EditorsManual A. Armada, Alberto Sanfeliu, Manuel Ferre
Number of pages10
ISBN (Electronic)978-3-319-03653-3
ISBN (Print)978-3-319-03652-6
Publication statusPublished - 2014
EventIberian Robotics Conference Robot - Madrid, Spain
Duration: 28 Sept 201329 Sept 2013


ConferenceIberian Robotics Conference Robot


  • angular position
  • Reduction Gear
  • Residual Vibration
  • Ciudad Real
  • Flexible Robot


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