Robust trajectory tracking for manipulators with joint flexibility via backstepping

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

Abstract

Robust adaptive control for multi-link manipulators with joint flexibility is considered in this paper. The scheme is presented under the assumption that the Coriolis, centrifugal, gravity, joint flexibility, friction terms, actuator inertia matrix, torsional damping coefficients, and the disturbances in the manipulator dynamics are completely unknown. Only the inertia matrix for the rigid links is known. The objective of the control design is to robustly track a reference model. A robust adaptive control under strict matching is established and applied to the control design of multi-link manipulators via backstepping. The main contribution of this paper is to avoid overparametrization, to include more parametric uncertainties, and to present a design methodology which allows the presence of uncertainties and disturbances bounded by general nonlinear functions.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
PublisherIEEE
Pages2849-2853
Number of pages5
Volume4
StatePublished - 2000
Event2000 American Control Conference - Chicago, IL, USA
Duration: Jun 28 2000Jun 30 2000

Other

Other2000 American Control Conference
CityChicago, IL, USA
Period6/28/006/30/00

Fingerprint

Backstepping
Manipulators
Trajectories
Gravitation
Actuators
Damping
Friction
Uncertainty

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Wang, Z., & Khorrami, F. (2000). Robust trajectory tracking for manipulators with joint flexibility via backstepping. In Proceedings of the American Control Conference (Vol. 4, pp. 2849-2853). IEEE.

Robust trajectory tracking for manipulators with joint flexibility via backstepping. / Wang, Zhi; Khorrami, Farshad.

Proceedings of the American Control Conference. Vol. 4 IEEE, 2000. p. 2849-2853.

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

Wang, Z & Khorrami, F 2000, Robust trajectory tracking for manipulators with joint flexibility via backstepping. in Proceedings of the American Control Conference. vol. 4, IEEE, pp. 2849-2853, 2000 American Control Conference, Chicago, IL, USA, 6/28/00.
Wang Z, Khorrami F. Robust trajectory tracking for manipulators with joint flexibility via backstepping. In Proceedings of the American Control Conference. Vol. 4. IEEE. 2000. p. 2849-2853
Wang, Zhi ; Khorrami, Farshad. / Robust trajectory tracking for manipulators with joint flexibility via backstepping. Proceedings of the American Control Conference. Vol. 4 IEEE, 2000. pp. 2849-2853
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