Please use this identifier to cite or link to this item:
|Title:||Adaptive robust controller design for multi-link flexible robots|
|Authors:||Lee, T.H. |
|Source:||Lee, T.H., Ge, S.S., Wang, Z.P. (2001-12). Adaptive robust controller design for multi-link flexible robots. Mechatronics 11 (8) : 951-967. ScholarBank@NUS Repository. https://doi.org/10.1016/S0957-4158(00)00062-3|
|Abstract:||Energy-based robust control strategy was proposed in  to improve 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. © 2001 Elsevier Science Ltd. All rights reserved.|
|Appears in Collections:||Staff Publications|
Show full item record
Files in This Item:
There are no files associated with this item.
checked on Dec 5, 2017
WEB OF SCIENCETM
checked on Nov 12, 2017
checked on Dec 9, 2017
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.