ADAPTIVE ROBUST CONTROL FOR FLEXIBLE JOINT MANIPULATORS WITH MISMATCHED UNCERTAINTY: DEAD-ZONE ADAPTATION

Fangfang Dong, Jiang Han, and Ye-Hwa Chen

Keywords

Adaptive control, robust control, uncertain system, flexible joint robot, dead-zone

Abstract

We consider a kind of flexible joint manipulators which are non- linear, time-varying and contain mismatched uncertainty. The in- ertia matrix can be used to construct Lyapunov function although some joints are prismatic. By creatively implanting a fictitious control and suggesting a state transformation, an adaptive robust controller, which is governed by dead-zone adaptive law, is designed to guarantee the uniform boundedness and uniform ultimate bound- edness properties of the system. This control is only based on the existence of the uncertainty bound. A numerical example illustrates our conclusions.

Important Links:



Go Back