Hybrid adaptive control for tracking of rigid-link flexible-joint robots
作者:
D.M.Dawson,
Z.Qu,
M.M.Bridges,
期刊:
IEE Proceedings D (Control Theory and Applications)
(IET Available online 1993)
卷期:
Volume 140,
issue 3
页码: 155-159
年代: 1993
DOI:10.1049/ip-d.1993.0022
出版商: IEE
数据来源: IET
摘要:
A hybrid adaptive tracking controller for rigid-link flexible-joint (RLFJ) robot manipulators is designed. The controller is hybrid in the sense that an adaptive indirect controller is used to compensate for parametric uncertainties in the rigid-link equation whereas an adaptive robust controller corrects for the dynamics (i.e. mechanical flexibilities) and parametric uncertainty associated with the actuators. That is, in spite of these detrimental uncertainties and effects, we are still able to ensure a global asymptotic stability (GAS) result for the link position tracking error.
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