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Please use this identifier to cite or link to this item: https://scholarbank.nus.edu.sg/handle/10635/69223
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dc.titleAdaptive robust controller design for multi-link flexible robots
dc.contributor.authorGe, S.S.
dc.contributor.authorLee, T.H.
dc.contributor.authorWang, Z.P.
dc.date.accessioned2014-06-19T02:58:13Z
dc.date.available2014-06-19T02:58:13Z
dc.date.issued2001
dc.identifier.citationGe, 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.
dc.identifier.issn07431619
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/69223
dc.description.abstractEnergy-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.
dc.sourceScopus
dc.typeConference Paper
dc.contributor.departmentELECTRICAL & COMPUTER ENGINEERING
dc.description.sourcetitleProceedings of the American Control Conference
dc.description.volume2
dc.description.page947-952
dc.description.codenPRACE
dc.identifier.isiutNOT_IN_WOS
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