Title :
Adaptive sliding control for single-link flexible-joint robot with mismatched uncertainties
Author :
Huang, An-Chyau ; Chen, Yuan-Chih
Author_Institution :
Dept. of Mech. Eng., Nat. Taiwan Univ. of Sci. & Technol., Taipei, Taiwan
Abstract :
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.
Keywords :
Lyapunov methods; adaptive control; control system synthesis; flexible manipulators; function approximation; industrial robots; uncertain systems; variable structure systems; Lyapunov-like design; adaptive sliding control; backsteppinglike design; function approximation technique; mismatched uncertainties; orthonormal basis functions; single-link flexible-joint robot; Adaptive control; Backstepping; Control systems; Force control; Function approximation; Programmable control; Robot control; Robot kinematics; Sliding mode control; Uncertainty; Adaptive control; backstepping; flexible-joint robot; function approximation; sliding control;
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2004.826968
