Stochastic modeling and control of manipulator with elastic joint actuated by DC-motors

【摘要】：In this paper, for a manipulator with elastic joint actuated by DC-motors in random vibration environment, the problems of stochastic modeling and control are considered. According to the relative motion principle, the influence of environment can be seen as force disturbed by the noise. According to the equivalent circuit, the resistor thermal noise of the DC-motors is regard as voltage disturbed by the noise. Thus, a stochastic model is constructed. Based on the model, using the structural properties and backstepping idea, a tracking controller is designed such that the closed-loop system is NSS-P and the mean square of the tracking error converges to an arbitrarily small neighborhood of zero.