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
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页码：2511 / 2512
页数：2
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