Adaptive sliding control for single-link flexible-joint robot with mismatched uncertainties

被引：55
|
作者：
Huang, AC [1 ]
Chen, YC [1 ]
机构：
[1] Natl Taiwan Univ Sci & Technol, Dept Mech Engn, Taipei, Taiwan
来源：
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2004年 / 12卷 / 05期
关键词：
adaptive control; backstepping; flexible-joint robot; function approximation; sliding control;
D O I：
10.1109/tcst.2004.826968
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 sliding controller is proposed for a single-link flexible-joint robot with mismatched uncertainties. A backsteppinglike design is used to deal with the mismatched problem and the function approximation technique is employed to transform the uncertainties into finite combinations of orthonormal basis functions. Adaptive laws can thus be derived, based on the Lyapunov-like design. Experiment results show that the proposed control strategy gives good tracking performance with all other signals remaining bounded.
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页码：770 / 775
页数：6
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