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
  • [31] Fractional-order dynamics and adaptive dynamic surface control of flexible-joint robots
    Cheng, Chao
    Shen, Haikuo
    ASIAN JOURNAL OF CONTROL, 2023, 25 (04) : 3029 - 3044
  • [32] Adaptive Asymptotic Tracking Control for Flexible-Joint Robots With Prescribed Performance: Design and Experiments
    Wang, Le
    Sun, Wei
    Su, Shun-Feng
    Zhao, Xudong
    IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2023, 53 (06): : 3707 - 3717
  • [33] Command Filtered Adaptive Control for Flexible-Joint Robots With Full-State Quantization
    Pang, Jing
    Sun, Wei
    De Leone, Renato
    Xie, Xiangpeng
    IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2024, 54 (12): : 7195 - 7205
  • [34] HYBRID ADAPTIVE-CONTROL FOR TRACKING OF RIGID-LINK FLEXIBLE-JOINT ROBOTS
    DAWSON, DM
    QU, Z
    BRIDGES, MM
    IEE PROCEEDINGS-D CONTROL THEORY AND APPLICATIONS, 1993, 140 (03): : 155 - 159
  • [35] Adaptive Fuzzy Tracking Control of Flexible-Joint Robots With Full-State Constraints
    Sun, Wei
    Su, Shun-Feng
    Xia, Jianwei
    Van-Truong Nguyen
    IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2019, 49 (11): : 2201 - 2209
  • [36] Adaptive dynamic surface control of flexible-joint robots using self-recurrent wavelet neural networks
    Yoo, Sung Jin
    Park, Jin Bae
    Choi, Yoon Ho
    IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 2006, 36 (06): : 1342 - 1355
  • [37] A Simple Adaptive Control Approach For Flexible Joint Robots
    Huang Jinming
    Liu Zhenguo
    2014 33RD CHINESE CONTROL CONFERENCE (CCC), 2014, : 8741 - 8746
  • [38] A TRACKING CONTROLLER FOR FLEXIBLE-JOINT ROBOTS USING ONLY LINK POSITION FEEDBACK
    NICOSIA, S
    TOMEI, P
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1995, 40 (05) : 885 - 890
  • [39] ESTIMATION OF POWER-SYSTEMS IN A STATIC STATE USING A MIN-MAX APPROACH
    DORAISWAMI, R
    DELIMA, WC
    SIMULATION, 1974, 23 (03) : 76 - 76
  • [40] Adaptive Prescribed-Time Optimal Control for Flexible-Joint Robots via Reinforcement Learning
    Xie, Shiyu
    Sun, Wei
    Sun, Yougang
    Su, Shun-Feng
    IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2025,
12345