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

Fangfang Dong, Jiang Han, and Ye-Hwa Chen

References

  1. [1] D. Ginoya, P.D. Shendge, and S.B. Phadke, Disturbanceobserver based sliding mode control of nonlinear mismatcheduncertain systems, Communications in Nonlinear Science &Numerical Simulation, 26(s1–s3), 2015, 98–107.34
  2. [2] L. Liu, K.K. Tan, A.S. Putra, et al., Compensation of hysteresisin piezoelectric actuator with iterative learning control, Journalof Control Theory and Applications, 8(2), 2010, 176–180.
  3. [3] C.T. Kiang, A. Spowage, and C.K. Yoong, Review of controland sensor system of flexible manipulator, Journal of Intelligent& Robotic Systems, 77(1), 2015, 187–213.
  4. [4] D. Zhao, S. Li, Q. Zhu, and F. Gao, Robust finite-time controlapproach for robotic manipulators, IET Control Theory andApplications, 4(1), 2010, 1–15.
  5. [5] S. Lin and A.A. Goldenberg, Robust damping control ofmobile manipulators, IEEE Transactions on Systems, Man,and Cybernetics, Part B: Cybernetics, 32(1), 2002, 126–132.
  6. [6] M.M. Fateh, Robust control of flexible-joint robots usingvoltage control strategy, Nonlinear Dynamics, 67(2), 2012,1525–1537.
  7. [7] J.H. Oh and J.S. Lee, Control of flexible joint robot system bybackstepping design approach, Intelligent Automation & SoftComputing, 5(4), 1999, 267–278.
  8. [8] J.J. Craig, Introduction to robotics: Mechanics and control,2nd ed. (Boston, MA: Addison-Wesley, 1989).
  9. [9] S.K. Pradhan and B. Subudhi, Real-time adaptive controlof a flexible manipulator using reinforcement learning, IEEETransactions on Automation Science and Engineering, 9(2),2012, 237–249.
  10. [10] Z.H. Ismail and M.W. Dunnigan, Adaptive robust trackingcontrol of an underwater vehicle-manipulator system with sub-region and self-motion criteria, Control and Intelligent Systems,40(1), 2012, 57.
  11. [11] M.-C. Chien and A.-C. Huang, Adaptive control for flexible-joint electrically driven robot with time-varying uncertainties,IEEE Transactions on Industrial Electronics, 54(2), 2007,1032–1038.
  12. [12] F. Alonge, F. DIppolito, and F.M. Raimondi, Globally con-vergent adaptive and robust control of robotic manipulatorsfor trajectory tracking, Control Engineering Practice, 12(9),2004, 1091–1100.
  13. [13] K. Ma and M.N. Ghasemi-Nejhad, Adaptive control of flexibleactive composite manipulators driven by piezoelectric patchesand active struts with dead zones, IEEE Transactions onControl Systems Technology, 16(5), 2008, 897–907.
  14. [14] S. Huang, K.K. Tan, and H.L. Tong, Adaptive sliding-modecontrol of piezoelectric actuators, IEEE Transactions on In-dustrial Electronics, 56(9), 2009, 3514–3522.
  15. [15] Y. H. Chen, G. Leitmann, and J.S. Chen, Robust control forrigid serial manipulators: A general setting, Proc. AmericanControl Conf., IEEE, Philadelphia, PA, 1998, Vol. 2, 912–916.
  16. [16] Y.H. Chen and G. Leitmann, Robustness of uncertain systemsin the absence of matching assumptions, International Journalof Control, 45(5), 1987, 1527–1542.
  17. [17] M.J. Corless and G. Leitmann, Continuous state feedbackguaranteeing uniform ultimate boundedness for uncertain dy-namic systems, IEEE Transactions on Automatic Control,26(5), 1981, 1139.
  18. [18] W. Chatlatanagulchai and P.H. Meckl, Model-independent con-trol of a flexible-joint robot manipulator, Journal of DynamicSystems Measurement & Control, 131(4), 2009, 442–447.
  19. [19] F. Dong, J. Han, and Y.H. Chen, Improved robust control formulti-link flexible manipulator with mismatched uncertainties,2015 International Conf. on Fluid Power and Mechatronics(FPM), IEEE, 2015, 1102–1107.

Important Links:

Go Back