Abstract
We propose the tracking controller design for flexible joint manipulators which contain nonlinearity and uncertainty. The controller design uses robust and adaptive control based on Lyapunov approach. We construct two subsystems via state transformation. For the first subsystem we use adaptive algorithm independent of bounding function and use robust algorithm for the second subsystem. The resulting control guarantees practical stability for the transformed system and the original system. Since the proposed control does not require the uniform-bound condition on link inertia matrix it can be applied to general manipulators. The history of control algorithm is shown by simulation with a 2-link flexible joint manipulator.
| Original language | English |
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| Pages | 1112-1117 |
| Number of pages | 6 |
| State | Published - 1996 |
| Event | Proceedings of the 1996 IEEE International Conference on Control Applications - Dearborn, MI, USA Duration: 15 Sep 1996 → 18 Sep 1996 |
Conference
| Conference | Proceedings of the 1996 IEEE International Conference on Control Applications |
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| City | Dearborn, MI, USA |
| Period | 15/09/96 → 18/09/96 |