Abstract
An adaptive controller is proposed for flexible-joint robot subject to parameter uncertainties. The backstepping control framework has been used to obtain the virtual controller and the actual control input. Besides, the derived controller is based on non-certainty-equivalent adaptive control methodology. A set of two-order filters are also embedded into the corresponding attractive manifold design. It is proved that the position of flexible-joint robot can stabilize towards the desired position, and moreover the estimate of uncertain parameters can converge to the real values to some degrees.
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Acknowledgements
This work was supported by the NSFC (61327807, 6152 1091, 61520106010, 61134005) and the National Basic Research Program of China (973 Program: 2012CB821200, 2012CB821201).
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Zhang, L., Jia, Y., Lu, X. (2018). Adaptive Controller for Flexible-Joint Robot. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2017 Chinese Intelligent Systems Conference. CISC 2017. Lecture Notes in Electrical Engineering, vol 459. Springer, Singapore. https://doi.org/10.1007/978-981-10-6496-8_22
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DOI: https://doi.org/10.1007/978-981-10-6496-8_22
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