A Simple Adaptive Control Approach For Flexible Joint Robots
This paper investigates the adaptive tracking problem for flexible joint robots with uncertain parameters and disturbances.A simple adaptive controller is proposed by combining adaptive backstepping and dynamic surface control techniques.Overparametrization problem and explosion of complexity problem existing in the backstepping methods are both avoid.It is proved that all the signals of the resulting closed-loop system are semi-globally uniformly ultimately bounded,and the tracking errors can be made arbitrarily small.Finally,a simulation example is provided to demonstrate the validness of the proposed approach.
Flexible joint robots Adaptive control Dynamic surface control Position tracking
HUANG Jinming LIU Zhenguo
College of Electricity Information and Automation,Qufu Normal University,Rizhao 272826,P.R.China School of Automation,Southeast University,Nanjing 210096,P.R.China
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
8741-8746
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）