Application of a robust adaptive control design for nonlinear systems to flexible joint manipulators

Sandeep Jain, Farshad Khorrami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents an application of the robust adaptive design procedure developed in [1] to flexible joint manipulators. The design guarantees robustness to parametric and dynamic uncertainties and also rejects any bounded, unmeasurable disturbances entering the system. In the strict matching case, the scheme can be used to design robust controllers for robotic manipulators. The design is extended to systems transformable to a special strict feedback form. The proposed scheme when applied to multi-link robotic manipulators with joint flexibility guarantees a robust performance even if the Coriolis, centrifugal, joint flexibility and friction terms in the manipulator dynamics are completely unknown.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherIEEE
Pages2829-2834
Number of pages6
Volume3
StatePublished - 1995
EventProceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4) - New Orleans, LA, USA
Duration: Dec 13 1995Dec 15 1995

Other

OtherProceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4)
CityNew Orleans, LA, USA
Period12/13/9512/15/95

Fingerprint

Manipulators
Nonlinear systems
Robotics
Friction
Feedback
Controllers

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

Cite this

Jain, S., & Khorrami, F. (1995). Application of a robust adaptive control design for nonlinear systems to flexible joint manipulators. In Proceedings of the IEEE Conference on Decision and Control (Vol. 3, pp. 2829-2834). IEEE.

Application of a robust adaptive control design for nonlinear systems to flexible joint manipulators. / Jain, Sandeep; Khorrami, Farshad.

Proceedings of the IEEE Conference on Decision and Control. Vol. 3 IEEE, 1995. p. 2829-2834.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Jain, S & Khorrami, F 1995, Application of a robust adaptive control design for nonlinear systems to flexible joint manipulators. in Proceedings of the IEEE Conference on Decision and Control. vol. 3, IEEE, pp. 2829-2834, Proceedings of the 1995 34th IEEE Conference on Decision and Control. Part 1 (of 4), New Orleans, LA, USA, 12/13/95.
Jain S, Khorrami F. Application of a robust adaptive control design for nonlinear systems to flexible joint manipulators. In Proceedings of the IEEE Conference on Decision and Control. Vol. 3. IEEE. 1995. p. 2829-2834
Jain, Sandeep ; Khorrami, Farshad. / Application of a robust adaptive control design for nonlinear systems to flexible joint manipulators. Proceedings of the IEEE Conference on Decision and Control. Vol. 3 IEEE, 1995. pp. 2829-2834
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