Hybrid Adaptive-Control For Tracking Of Rigid-Link Flexible-Joint Robots

    Authors

    D. M. Dawson; Z. Qu;M. M. Bridges

    Comments

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    Keywords

    Control Theory; Robotics; Engineering, Electrical & Electronic; Instruments & Instrumentation

    Abstract

    A hybrid adaptive tracking controller for rigid-link flexible-joint (RLFJ) robot manipulators is designed. The controller is hybrid in the sense that an adaptive indirect controller is used to compensate for parametric uncertainties in the rigid-link equation whereas an adaptive robust controller corrects for the dynamics (i.e. mechanical flexibilities) and parametric uncertainty associated with the actuators. That is, in spite of these detrimental uncertainties and effects, we are still able to ensure a global asymptotic stability (GAS) result for the link position tracking error.

    Journal Title

    Iee Proceedings-D Control Theory and Applications

    Volume

    140

    Issue/Number

    3

    Publication Date

    1-1-1993

    Document Type

    Article

    Language

    English

    First Page

    155

    Last Page

    159

    WOS Identifier

    WOS:A1993LW32200002

    ISSN

    0143-7054

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