Robust adaptive control of flexible joint manipulators
type: Item
instance of: scholarly article
title: Robust adaptive control of flexible joint manipulators
zbMATH Open document ID: 0949.93044
DOI: 10.1016/S0005-1098(97)00199-4
author: Sandeep Jain
author: Farshad Khorrami
published in: Automatica
publication date: 2000-12-05T00:00:00Z
review text: This paper considers robust adaptive control of flexible joint manipulators. The authors employ a design procedure they developed previously for nonlinear control systems with both nonlinearly parametrized, dynamic uncertainties and bounded unmeasurable disturbances. In this application, they design a robust adaptive controller without assuming any knowledge of the Coriolis, centrifugal, joint flexibility or friction terms in the manipulator dynamics. The paper includes simulation results for the control law operating on a two-link flexible joint manipulator.
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93C73
zbMATH DE Number: 1325779
zbMATH Keywords: robust adaptive control
zbMATH Keywords: flexible joint manipulators
zbMATH Keywords: unmeasurable disturbances
zbMATH Keywords: friction
reviewed by: William J. Satzer Jr.
MaRDI profile type: Publication
full work available at URL: s0005-1098(97)00199-4
OpenAlex ID: W2016776659
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description: scientific article; zbMATH DE number 1325779