Title :
Adaptive robust controller design for multi-link flexible robots
Author :
Ge, S.S. ; Lee, T.H. ; Wang, Z.P.
Author_Institution :
Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore
Abstract :
An energy-based robust control strategy due to Ge et al. (1996) improved the control performance of the traditional joint PD control by introducing additional control efforts through the evaluation of vibration related variables. Although the energy-based robust controller always guarantees closed-loop stability, it is not easy to find suitable gains of the terms for a satisfactory control performance. In this paper, adaptive energy-based robust control is presented for both closed-loop stability and automatic tuning of the gains of the additional control terms for desired performance. Simulation results are provided to show the effectiveness of the presented approach
Keywords :
adaptive control; closed loop systems; control system synthesis; flexible manipulators; robust control; two-term control; vibrations; adaptive energy-based robust control; adaptive robust controller design; automatic gain tuning; guaranteed closed-loop stability; joint PD control; multilink flexible robots; vibration related variables; Adaptive control; Automatic control; Capacitive sensors; DC motors; Performance gain; Programmable control; Robots; Robust control; Robust stability; Strain control;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.945841
