Adaptive controller for single-link flexible manipulators based on algebraic identification and generalized proportional integral control

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Volumn 39, Issue 3, 2009, Pages 735-751

  Becedas, Jonathan ^a   Trapero, Juan Ramón ^b   Feliu, Vicent ^a   Sira Ramírez, Hebertt ^c  

^a UNIVERSITY OF CASTILLA LA MANCHA   (Spain)

^b LANCASTER UNIVERSITY   (United Kingdom)

^c DEPARTAMENTO DE FÍSICA   (Mexico)

Author keywords

Adaptive control; Algebraic estimation; Flexible robots; Generalized proportional integral (GPI) control

Indexed keywords

ADAPTIVE CONTROL; ADAPTIVE CONTROLLERS; ALGEBRAIC ESTIMATION; ALGEBRAIC IDENTIFICATIONS; CERTAINTY EQUIVALENCES; CLOSED-LOOP IDENTIFICATIONS; CONTINUOUS-TIME; COULOMB FRICTIONS; FLEXIBLE ROBOTS; GENERALIZED PROPORTIONAL INTEGRAL (GPI) CONTROL; GENERALIZED PROPORTIONAL INTEGRAL CONTROLS; MOTOR DYNAMICS; OUTPUT-FEEDBACK CONTROLLERS; SINGLE-LINK FLEXIBLE MANIPULATORS;

ADAPTIVE CONTROL SYSTEMS; FLEXIBLE MANIPULATORS; IDENTIFICATION (CONTROL SYSTEMS); ROBOTICS; ROBOTS; TWO TERM CONTROL SYSTEMS;

CONTROLLERS;

EID: 67349230839     PISSN: 10834419     EISSN: None     Source Type: Journal    
DOI: 10.1109/TSMCB.2008.2008905     Document Type: Article

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