DocumentCode
1868190
Title
Variable structure adaptive cascade control of multi-link robot manipulators with flexible joints: the case of arbitrary uncertain flexibilities
Author
Hsu, Liu ; Guenther, Raul
fYear
1993
fDate
2-6 May 1993
Firstpage
340
Abstract
The design of adaptive tracking control of flexible joint manipulators in the general n-link case with arbitrary (possibly large) uncertain flexibility is addressed. Two strategies based on cascade control are presented combining an adaptive scheme for link control with two alternative variable structure control laws for joint control. Global stability or arbitrarily large domain of stability is obtained. Very satisfactory performance is illustrated by a simulation example. The proposed schemes are considerably simpler than those available in the literature
Keywords
adaptive control; cascade control; control system synthesis; manipulators; stability; variable structure systems; flexible joint manipulators; global stability; joint control; link control; multi-link robot manipulators; tracking control; uncertain flexibility; variable structure adaptive cascade control; Adaptive control; Electric variables control; Manipulators; Programmable control; Robot control; Stability; System testing; Torque; Tracking; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.292168
Filename
292168
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