Adaptive sliding control for single-link flexible-joint robot with mismatched uncertainties

被引：52

作者：

Huang, AC ^{[1
]}

Chen, YC ^{[1
]}

机构：

[1] Natl Taiwan Univ Sci & Technol, Dept Mech Engn, Taipei, Taiwan

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2004年 / 12卷 / 05期

关键词：

adaptive control; backstepping; flexible-joint robot; function approximation; sliding control;

D O I：

10.1109/tcst.2004.826968

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An adaptive sliding controller is proposed for a single-link flexible-joint robot with mismatched uncertainties. A backsteppinglike design is used to deal with the mismatched problem and the function approximation technique is employed to transform the uncertainties into finite combinations of orthonormal basis functions. Adaptive laws can thus be derived, based on the Lyapunov-like design. Experiment results show that the proposed control strategy gives good tracking performance with all other signals remaining bounded.

引用

页码：770 / 775

页数：6

共 19 条

[1] Ge SS, 2013, STABLE ADAPTIVE NEUR
[2] Adaptive controller design for flexible joint manipulators
Ge, SZS
[J]. AUTOMATICA, 1996, 32 (02) : 273 - 278
[3] Adaptive neural network controller design for flexible joint robots using singular perturbation technique
Ge, SZS
Postlethwaite, I
[J]. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 1995, 17 (03) : 120 - 131
[4] Gerdes J. C., 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251), P3574, DOI 10.1109/ACC.1999.782432
[5] GHORBEL F, 1992, 1992 IEEE INTERNATIONAL CONF ON ROBOTICS AND AUTOMATION : PROCEEDINGS, VOLS 1-3, P707, DOI 10.1109/ROBOT.1992.220285
[6] Sliding control of non-linear systems containing time-varying uncertainties with unknown bounds
Huang, AC
Kuo, YS
[J]. INTERNATIONAL JOURNAL OF CONTROL, 2001, 74 (03) : 252 - 264
[7] Kozlowski K., 1999, Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353), P85, DOI 10.1109/ROMOCO.1999.791058
[8] Kristic M., 1995, Nonlinear and Adaptive Control Design
[9] Lee T.H., 1998, Adaptive Neural Network Control of Robotic Manipulators, V19
[10] Slotine JJE, 1991, APPL NONLINEAR CONTR

← 1 2 →