Adaptive controller design for flexible joint manipulators
type: Item
instance of: scholarly article
title: Adaptive controller design for flexible joint manipulators
zbMATH Open document ID: 0876.93066
DOI: 10.1016/0005-1098(96)85559-2
published in: Automatica
publication date: 1996-04-21T00:00:00Z
review text: This paper presents a new adaptive control algorithm for robotic manipulators with flexible joints, obtained within the singular perturbation approach. The algorithm is based on a decomposition of the robot dynamics into a slow and a fast subsystem, deriving corresponding steady state and boundary layer systems and stabilizing them exponentially. More specifically, the boundary layer system has been stabilized by a high gain PD feedback from the actuator position error, whereas the exponential stability of the steady state system has been achieved by a Slotine-Li type adaptive controller exploiting in its adaptation loop a suitably filtered elastic force signal. Persistent excitation conditions are introduced in order to prove uniform boundedness of the adaptation gain matrix. A simulation study showing the performance of the new controller has been included.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 34D15
zbMATH DE Number: 867768
zbMATH Keywords: adaptive control
zbMATH Keywords: robotic manipulators
zbMATH Keywords: flexible joints
zbMATH Keywords: singular perturbation
Wikidata QID: Q57528067
author: Shuzhi Sam Ge
reviewed by: Krzysztof Tchoń
MaRDI profile type: Publication
full work available at URL: 0005-1098(96)85559-2
OpenAlex ID: W2036652665
cites work: On the adaptive control of flexible joint robots
cites work: Q4093255
cites work: Robust Adaptive Control for a Class of MIMO Nonlinear Systems by State and Output Feedback
cites work: Nonlinear systems
cites work: Q4003793
cites work: Modeling and Control of Elastic Joint Robots
cites work: Adaptive control of flexible joint manipulators
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description: scientific article; zbMATH DE number 867768