DocumentCode
2556286
Title
Adaptive stabilization of underactuated flexible-joint robots using an energy approach and min-max algorithms
Author
Fantoni, I. ; Lozano, R. ; Annaswamy, Anuradha M.
Author_Institution
HEUDIASYC, Univ. de Technol. de Compiegne, France
Volume
4
fYear
2000
fDate
2000
Firstpage
2511
Abstract
An adaptive control design method for the control of a two-link robotic mechanism with springs between the links using a single actuator is presented in this paper. It is shown that when the parameters are unknown, a stabilizing control strategy can be presented which makes use of an underlying convex parametrization present in the problem. An energy approach, combined with min-max algorithms, makes up the complete adaptive controller
Keywords
adaptive control; control system synthesis; flexible manipulators; minimax techniques; optimal control; stability; adaptive control design method; adaptive stabilization; convex parametrization; energy approach; min-max algorithms; stabilizing control strategy; two-link robotic mechanism; underactuated flexible-joint robots; Adaptive control; Control systems; Design methodology; Lyapunov method; Mechanical engineering; Nonlinear control systems; Programmable control; Robots; Springs; Transmission line matrix methods;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2000. Proceedings of the 2000
Conference_Location
Chicago, IL
ISSN
0743-1619
Print_ISBN
0-7803-5519-9
Type
conf
DOI
10.1109/ACC.2000.878635
Filename
878635
Link To Document