Adaptive Control for Flexible-Joint Electrically Driven Robot With Time-Varying Uncertainties

Abstract

<para xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> Almost all present control strategies for electrically driven robots are under the rigid robot assumption. Few results can be found for the control of electrically driven robots with joint flexibility. This is because the presence of the joint flexibility greatly increases the complexity of the system dynamics. What is worse is when some system dynamics are not available and a good performance controller is required. In this paper, an adaptive design is proposed to this challenging problem. A backstepping-like procedure incorporating the model reference adaptive control is employed to circumvent the difficulty introduced by its cascade structure and various uncertainties. A Lyapunov-like analysis is used to justify the closed-loop stability and boundedness of internal signals. Computer simulation results are presented to demonstrate the usefulness of the proposed scheme. </para>