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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
ISSN: 07431619
Appears in Collections:Staff Publications

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