Adaptive stabilization of underactuated flexible-joint robots using an energy approach and min-max algorithms

被引：0
|
作者：
Fantoni, I [1 ]
Lozano, R [1 ]
Annaswamy, AM [1 ]
机构：
[1] Univ Technol Compiegne, HEUDIASYC UMR CNRS 6599, Ctr Rech Royallieu, F-60205 Compiegne, France
来源：
PROCEEDINGS OF THE 2000 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 2000年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An adaptive control design method for the control of a two-link robotic mechanism with springs between the links using a single actuator is presented in this paper. It is shown that when the parameters are unknown, a stabilizing control strategy can be presented which makes use of an underlying convex parametrization present in the problem. A novel energy approach introduced in [2] together with min-max algorithms introduced in [4] makes up the complete adaptive controller.
引用
收藏
页码：2511 / 2512
页数：2
相关论文
共 50 条
  • [1] ADAPTIVE-CONTROL OF FLEXIBLE-JOINT ROBOTS
    KHORASANI, K
    IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1992, 8 (02): : 250 - 267
  • [2] ADAPTIVE-CONTROL FOR FLEXIBLE-JOINT ROBOTS USING A PASSIVE SYSTEMS-APPROACH
    BENALLEGUE, A
    CONTROL ENGINEERING PRACTICE, 1995, 3 (10) : 1393 - 1400
  • [3] CMAC adaptive control of flexible-joint robots using backstepping with tuning functions
    Macnab, CJB
    D'Eleuterio, GMT
    Meng, M
    2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, : 2679 - 2686
  • [4] ADAPTIVE-CONTROL OF FLEXIBLE-JOINT ROBOTS DERIVED FROM ARM ENERGY CONSIDERATIONS
    AHMAD, S
    MRAD, F
    LECTURE NOTES IN CONTROL AND INFORMATION SCIENCES, 1991, 151 : 15 - 36
  • [5] Decentralized Direct Adaptive Fuzzy Control for Flexible-Joint Robots
    Fateh, Mohammad Mehdi
    Souzanchikashani, Mahdi
    CONTROL ENGINEERING AND APPLIED INFORMATICS, 2013, 15 (04): : 97 - 105
  • [6] Adaptive Output Feedback Control of Flexible-Joint Robots Using Neural Networks: Dynamic Surface Design Approach
    Yoo, Sung Jin
    Park, Jin Bae
    Choi, Yoon Ho
    IEEE TRANSACTIONS ON NEURAL NETWORKS, 2008, 19 (10): : 1712 - 1726
  • [7] Regressor-free adaptive impedance control of flexible-joint robots using FAT
    Chien, Ming-Chih
    Huang, An-Chyau
    2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12, 2006, 1-12 : 3904 - +
  • [8] Distributed adaptive containment control of networked flexible-joint robots using neural networks
    Yoo, Sung Jin
    EXPERT SYSTEMS WITH APPLICATIONS, 2014, 41 (02) : 470 - 477
  • [9] Energy crop supply in France:: a min-max regret approach
    Kazakci, A. O.
    Rozakis, S.
    Vanderpooten, D.
    JOURNAL OF THE OPERATIONAL RESEARCH SOCIETY, 2007, 58 (11) : 1470 - 1479
  • [10] Actuator fault detection and adaptive accommodation control of flexible-joint robots
    Yoo, S. J.
    IET CONTROL THEORY AND APPLICATIONS, 2012, 6 (10): : 1497 - 1507
12345