Please use this identifier to cite or link to this item: https://doi.org/10.1016/S0957-4158(00)00062-3
Title: Adaptive robust controller design for multi-link flexible robots
Authors: Lee, T.H. 
Ge, S.S. 
Wang, Z.P. 
Issue Date: Dec-2001
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 [12] 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.
Source Title: Mechatronics
URI: http://scholarbank.nus.edu.sg/handle/10635/54937
ISSN: 09574158
DOI: 10.1016/S0957-4158(00)00062-3
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