Robust adaptive control of flexible joint manipulators

Automatica

Volumn 34, Issue 5, 1998, Pages 609-615

  Jain, Sandeep ^a   Khorrami, Farshad ^a  

^a POLYTECHNIC UNIVERSITY   (United States)

Author keywords

Flexible joint manipulators; Nonlinear; Robust adaptive control; Uncertainties

Indexed keywords

CONTROL SYSTEM SYNTHESIS; MANIPULATORS; ROBUSTNESS (CONTROL SYSTEMS);

FLEXIBLE JOINT MANIPULATORS;

ADAPTIVE CONTROL SYSTEMS;

EID: 0032072941     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0005-1098(97)00199-4     Document Type: Article

References (18)

1. Dawson, D. M., Z. Qu, M. M. Bridges and J. J. Carrol (1991). Robust tracking of rigid-link flexible-joint electrically-driven robots. Proceedings of the 30th Conference on Decision and Control, Brighton, England, pp. 1409-1412.
2. Freeman, R. A. and P. V. Kokotović (1992). Design and comparison of globally stabilizing controllers for an uncertain nonlinear system, In Systems, Models and Feedback: Theory and Applications, eds, A. Isidori and T. J. Tarn, pp. 249-264. Birkhauser, Boston, MA.
3. Freeman, R. and P. V. Kokotović (1994). Tools and procedures for robust control of nonlinear systems. Proceedings of the 32nd Conference on Decision and Control, Orlando, FL, pp. 3458-3463.
4. Jain, S. and F. Khorrami (1995). Robust adaptive control of a class of nonlinear systems: state and output feedback. Proceedings of the 1995 American Control Conference, Seattle, WA, pp. 1580-1584.
5. Jain, S. and F. Khorrami (1997a). Decentralized adaptive control of a class of large scale interconnected nonlinear systems. IEEE Trans. Automat. Control, AC-42(2), 136-154.
6. Jain, S. and F. Khorrami (1997b). Decentralized adaptive output feedback design for large scale nonlinear systems. IEEE Trans. Automat. Control, AC-42(5), 729-735.
7. Kanellakopoulos, I., P. V. Kokotović and A. S. Morse (1991). Systematic design of adaptive controllers for feedback linearizable systems. IEEE Trans. Automat. Control, AC-36(11), 1241-1253.
8. Khorasani, K. and P. V. Kokotović (1985). Feedback linearization fo a flexible manipulator near its rigid body manifold. Systems Control Lett., 6, 187-192.
9. Lozano, R. and B. Brogliato (1992). Adaptive control of robot manipulators with flexible joints. IEEE Trans. Automat. Control, AC-37(2), 174-181.
10. Luca, A. D., A. Isidori and F. Nicolò (1985). Control of a robot arm with elastic joints via nonlinear dynamic feedback. Proc. of the 24th Conf. on Decision and Control, Ft. Lauderdale, pp. 1671-1679.
11. Marino, R. and S. Nicosia (1984). On the feedback control of industrial robots with elastic joints: a singular perturbation approach. Technical report, Seconda Universita di Roma, Rome, Italy.
12. Marino, R. and P. Toméi (1993). Robust stabilization of feedback linearizable time-varying uncertain nonlinear systems. Automatica, 29, 181-189.
13. Nicosia, S. and P. Toméi (1992). A method to design adaptive controllers for flexible joint robots. Proc. 1992 Int. Conf. on Robotics and Automation, Nice, France, pp. 701-706.
14. Qu, Z. (1993). Robust control of nonlinear uncertain systems under generalized matching conditions. Automatica, 29(4), 985-998.
15. Sastry, S. S. and A. Isidori (1989). Adaptive control of linearizable systems. IEEE Trans. Automat. Control, AC-34(11), 1123-1131.
16. Seto, D., A. M. Annaswamy and J. Baillieul (1994). Adaptive control of nonlinear systems with a triangular structure. IEEE Trans. Automat. Control, AC-39(7), 1411-1428.
17. Spong, M. W. (1987). Modeling and control of elastic joint robots. Trans. ASME: J. Dyn. Systems Measurement Control, 109, 310-319.
18. Spong, M. W., K. Khorasani and P. V. Kokotović (1987). An integral manifold approach to the feedback control of flexible joint robots. IEEE J. Robotics, RA-3, 291-300.