Title :
Adaptive stabilization of underactuated flexible-joint robots using an energy approach and min-max algorithms
Author :
Fantoni, I. ; Lozano, R. ; Annaswamy, Anuradha M.
Author_Institution :
HEUDIASYC, Univ. de Technol. de Compiegne, France
Abstract :
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. An energy approach, combined with min-max algorithms, makes up the complete adaptive controller
Keywords :
adaptive control; control system synthesis; flexible manipulators; minimax techniques; optimal control; stability; adaptive control design method; adaptive stabilization; convex parametrization; energy approach; min-max algorithms; stabilizing control strategy; two-link robotic mechanism; underactuated flexible-joint robots; Adaptive control; Control systems; Design methodology; Lyapunov method; Mechanical engineering; Nonlinear control systems; Programmable control; Robots; Springs; Transmission line matrix methods;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.878635
