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Please use this identifier to cite or link to this item: https://doi.org/10.1016/S0957-4158(00)00062-3
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dc.titleAdaptive robust controller design for multi-link flexible robots
dc.contributor.authorLee, T.H.
dc.contributor.authorGe, S.S.
dc.contributor.authorWang, Z.P.
dc.date.accessioned2014-06-17T02:37:14Z
dc.date.available2014-06-17T02:37:14Z
dc.date.issued2001-12
dc.identifier.citationLee, 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
dc.identifier.issn09574158
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/54937
dc.description.abstractEnergy-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.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1016/S0957-4158(00)00062-3
dc.sourceScopus
dc.typeArticle
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.description.doi10.1016/S0957-4158(00)00062-3
dc.description.sourcetitleMechatronics
dc.description.volume11
dc.description.issue8
dc.description.page951-967
dc.description.codenMECHE
dc.identifier.isiut000172356600001
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