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|Title:||Adaptive robust controller design for multi-link flexible robots|
|Authors:||Ge, S.S. |
|Source:||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  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|
|Appears in Collections:||Staff Publications|
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