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https://scholarbank.nus.edu.sg/handle/10635/69223
Title: | Adaptive robust controller design for multi-link flexible robots | Authors: | Ge, S.S. Lee, T.H. Wang, Z.P. |
Issue Date: | 2001 | Citation: | Ge, S.S.,Lee, T.H.,Wang, Z.P. (2001). Adaptive robust controller design for multi-link flexible robots. Proceedings of the American Control Conference 2 : 947-952. ScholarBank@NUS Repository. | Abstract: | Energy-based robust control strategy was proposed in [8] 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. | Source Title: | Proceedings of the American Control Conference | URI: | http://scholarbank.nus.edu.sg/handle/10635/69223 | ISSN: | 07431619 |
Appears in Collections: | Staff Publications |
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