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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 | Citation: | 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 |
Appears in Collections: | Staff Publications |
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