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Title: Adaptive controller design for flexible joint manipulators
Authors: Ge, S.S. 
Keywords: Adaptive control
Flexible joint robots
Singular perturbations
Issue Date: Feb-1996
Citation: Ge, S.S. (1996-02). Adaptive controller design for flexible joint manipulators. Automatica 32 (2) : 273-277. ScholarBank@NUS Repository.
Abstract: A new adaptive controller for flexible joint robots is presented here based on singular perturbation theory and using only position and velocity feedback by modelling the 'motor tracking error' Kem as the fast variables instead of the joint elastic forces, where K represents the joint elasticity and em is the motor tracking error. The resulting boundary layer and quasi-steady-state systems are made exponentially stable: therefore the statements of Tychonov's theorem are valid for an infinite time interval.
Source Title: Automatica
ISSN: 00051098
DOI: 10.1016/0005-1098(96)85559-2
Appears in Collections:Staff Publications

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