Adaptive sliding control for single-link flexible-joint robot with mismatched uncertainties

An adaptive sliding controller is proposed for a single-link flexible-joint robot with mismatched uncertainties. A backsteppinglike design is used to deal with the mismatched problem and the function approximation technique is employed to transform the uncertainties into finite combinations of ortho...

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Veröffentlicht in:	IEEE transactions on control systems technology 2004-09, Vol.12 (5), p.770-775
Hauptverfasser:	HUANG, An-Chyau, CHEN, Yuan-Chih
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive control Adaptive control systems Applied sciences Approximation Backstepping Computer science control theory systems Control system synthesis Control systems Control theory. Systems Design engineering Exact sciences and technology Force control Function approximation Mathematical analysis Programmable control Robot control Robot kinematics Robotics Robots Sliding Sliding mode control Tracking Uncertainty
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Beschreibung
Zusammenfassung:	An adaptive sliding controller is proposed for a single-link flexible-joint robot with mismatched uncertainties. A backsteppinglike design is used to deal with the mismatched problem and the function approximation technique is employed to transform the uncertainties into finite combinations of orthonormal basis functions. Adaptive laws can thus be derived based on the Lyapunov-like design. Experiment results show that the proposed control strategy gives good tracking performance with all other signals remaining bounded.
ISSN:	1063-6536 1558-0865
DOI:	10.1109/TCST.2004.826968