Robust regulator for flexible-joint robots using integrator backstepping

被引：9

作者：

Abouelsoud, AA ^{[1
]}

机构：

[1] Cairo Univ, Fac Engn, Elect & Commun Dept, Giza 12211, Egypt

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 1998年 / 22卷 / 01期

关键词：

robot dynamic model; stiffness matrix; constant disturbance; integrator backstepping; Liapunov functions; Barbalat lemma; stability;

D O I：

10.1023/A:1007947416837

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A robust regulator for flexible-joint robots is proposed, which yields constant torque disturbance rejection acting on the links. The design uses the integrator backstepping technique [4, 5] to cancel nonlinearities and disturbance not in the range space of the control. Stability of the closed loop system is shown using iterative Liapunov functions.

引用

页码：23 / 38

页数：16

共 12 条

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Kristic M., 1995, Nonlinear and Adaptive Control Design

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