An Adaptive Controller Design for Flexible-joint Electrically-driven Robots With Consideration of Time-Varying Uncertainties PDF Download

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An Adaptive Controller Design for Flexible-joint Electrically-driven Robots With Consideration of Time-Varying Uncertainties

An Adaptive Controller Design for Flexible-joint Electrically-driven Robots With Consideration of Time-Varying Uncertainties PDF Author: Ming-Chih Chien
Publisher:
ISBN: 9789537619435
Category :
Languages : en
Pages :

Book Description
An adaptive controller is proposed for RLFJED robots containing time-varying uncertainties. A backstepping-like procedure is developed to deal with the cascade structure in its dynamic equations. The function approximation technique is employed to cope with the time-varying uncertainties. The closed loop stability is proved by using the Lyapunovlike analysis. The realization of the proposed controller does not need to calculate the regressor which is required in most adaptive designs for robot manipulators. Simulation.
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