Adaptive control of the arm position in the electric drive with a non-linear elastic joint

被引：1
|
作者：
Jastrzebski, Marcin [1 ]
Mosiolek, Przemyslaw [1 ]
机构：
[1] Tech Univ Lodz, Inst Automatyki, Lodzka, Poland
来源：
PRZEGLAD ELEKTROTECHNICZNY | 2023年 / 99卷 / 04期
关键词：
elastic joint drive; backstepping; nonlinear control; adaptive control; STIFFNESS; SYSTEM;
D O I：
10.15199/48.2023.04.09
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
The paper presents an algorithm of adaptive control of the arm position in the drive with a non-linear elastic joint. The backstepping method was used to design the control algorithm. The laws of adaptation proposed in the algorithm implement the self-tuning function of the control system, and allow to avoid a process of identification parameters of the drive system. The operation of the algorithm has been verified in a simulation and in a real system.
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页码：51 / 58
页数：8
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