Exercise, Computed Torque, one joint

A simple one-link manipulator is shown on the figure. The describing equation is

τ = ml2 θ̈ + ν θ̇ + csgn(θ̇) + mlg cos (θ) (= J θ̈ + B θ̇ + csgn(θ̇) + mlg cos (θ))
where the terms are seen in the figure. The notation with J and B in the parenthesis correspond
to the notation used in earlier lectures in the course.

1. Determine a nonlinear control law which cancels the nonlinear dynamics of the system to
be controlled. Sketch the control system similar to the scheme in figure 10.2.
Inputs from Servo controller Linear System with acceleration as input
trajectory
Manipulator system
planner θ
θ̈d τ0 τ
ml2 + 2
ml θ̈ = τ − (ν θ̇ + csgn(θ̇) + mglcos(θ))
+
+
+ + θ̇
β
Model based compensator
kp kv β = ν θ̇ + csgn(θ̇) + mglcos(θ)

θ̇d
+ -
θd
+ -

Answer: Figure 1 shows a block-diagram of the system with the model based compensator
in green and a servo compensator. With the model based compensation the intention is
to design a system which compensates nonlinearity and prepares for input from the servo
controller which is in acceleration.

1
2. Assume that the trajectory is described only giving the angle reference θd , (θ̇d = 0, θ̈d =
0). Sketch a block-diagram where the nonlinear dynamics is combined with the model
based canceling controller. What are the transfer functions which the linear (servo) con-
troller(s) see(s). Answer: In figure 2 the part of the blockdiagram modeling the system is
redrawn to point out that it consists of part which sums up all torques affecting the arm,
a division with the moment of inertia to calculate angular acceleration and finally two
integrators giving angular velocity and angle.
Now it is easy to see that if the manipulator is reflected correctly in the compensator, the
system is reduced as in the block diagram in following figure.
Since the servo controller uses measurements of both θ and θ̇ the controller sees transfer-
functions from the input τ 0 to both of these signals.

Θ̇(s) 1 Θ(s) 1
0
= , 0 = s
τ (s) s τ (s) s

In the next figure the system is redrawn omitting the inputs from θ̇d and θ̈d . Now we have
Inputs from Servo controller Linear System with acceleration as input
trajectory
Manipulator system
planner τ
θ̈d τ0 θ
ml2 + 1 R R
+ ml2
+
+ + - θ̇
β βs
β= βs =
kp kv
ν θ̇ + csgn(θ̇) + mglcos(θ) ν θ̇ + csgn(θ̇) + mglcos(θ)

Model based compensator

θ̇d
+ -
θd
+ -

Inputs from Servo controller Linear System with acceleration as input

trajectory
planner
θ̈d τ0 R R θ
+
+
+ θ̇

kp kv

θ̇d
+ -
θd
+ -

a usual control loop with only one reference input.

2
 Inputs from Servo controller Linear System with acceleration as input
trajectory
planner τ0
θd R R θ
kp
+
- -

kv
θ̇

3. Calculate an expression for the closed loop transfer function from θd to θ.

Answer: The transfer function can be calculated by first closing the inner loop; this gives
1
Θ̇(s) s 1
0
= 1 =
τ (s) 1 + kv s s + kv

Next the wanted transfer function can be calculated as

Θ(s) kp (s+k1 v )s kp
Gcl (s) = = 1 = 2
Θd (s) 1 + kp (s+kv )s s + kv s + kp

4. Determine the value of the velocity-feedback (in Craig kν ) and position (or angle) -feedback
(in Craig kp ) to give a transfer function with a double pole p1 = p2 = −3 (ωn = 3 and
ζ = 1).
Answer: First observe that a system with a double pole p1 = p2 = −3 correspond to a
transfer function
n n n
= 2 2
= 2
(s + 3)(s + 3) s + 2 ∗ 3s + 3 ) s + 2ζωn s + ωn2 )

consistent with (ωn = 3 and ζ = 1). Comparing coefficients with the transfer function
calculated above we easily find

kp = 9, kv = 6
this also give us the numerator n which was not given by the pole specification such that
kp 9
Gcl (s) = =
s2 + kv s + kp s2 + 6s + 9

5. Calculate the open loop transfer function as seen with the loop is opened after the linear
servo controller and determine phase-margin and gain-margin for the loop.

3
Answer: The open loop transfer function is given by

kp
Gol (s) =
(s + kv )s
The Bode-plot with margins can be found using MatLab command margin (alternatively
read margins from an approximate diagram with straight-line which can be drawn by
hand).
s =tf(’s’)
Gol = 9/((s+6)*s)
margin(Gol)

Bode Diagram
Gm = Inf dB (at Inf rad/s) , Pm = 76.3 deg (at 1.46 rad/s)

50
Magnitude (dB)

−50

−100
−90
Phase (deg)

−135

−180
−1 0 1 2
10 10 10 10
Frequency (rad/s)