Name
Title | ||
|---|---|---|
Sliding-mode adaptive control for flexible-link manipulators using a composite design |
Abstract | ||
|---|---|---|
A robust adaptive control scheme for flexible link robotic manipulators is presented. The design is based on considering the flexible mechanical structure as a singular perturbed system, which allows us to assume the existence of slow (rigid) and fast (flexible) modes that separately can be controlled. The rigid dynamics are controlled by means of a robust sliding adaptive approach with well-established stability properties. The flexible dynamics can be controlled using H-infinity or optimal designs, which successfully handle the actual interaction between the slow and fast subsystems. This composite approach achieves good closed-loop tracking properties, both in simulation and experimental results on a laboratory-flexible arm. |
Year | DOI | Venue |
|---|---|---|
2005 | 10.1080/01969720590944267 | CYBERNETICS AND SYSTEMS |
Keywords | DocType | Volume |
optimal design,singular perturbation,adaptive control | Journal | 36.0 |
Issue | ISSN | Citations |
5 | 0196-9722 | 3 |
PageRank | References | Authors |
0.42 | 13 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ibone Lizarraga | 1 | 14 | 1.60 |
| Victor Etxebarria | 2 | 28 | 4.78 |
| Arantza Sanz | 3 | 8 | 1.66 |