Please use this identifier to cite or link to this item: https://doi.org/10.1016/0005-1098(96)85559-2
DC FieldValue
dc.titleAdaptive controller design for flexible joint manipulators
dc.contributor.authorGe, S.S.
dc.date.accessioned2014-10-07T02:55:51Z
dc.date.available2014-10-07T02:55:51Z
dc.date.issued1996-02
dc.identifier.citationGe, S.S. (1996-02). Adaptive controller design for flexible joint manipulators. Automatica 32 (2) : 273-277. ScholarBank@NUS Repository. https://doi.org/10.1016/0005-1098(96)85559-2
dc.identifier.issn00051098
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/80286
dc.description.abstractA 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.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1016/0005-1098(96)85559-2
dc.sourceScopus
dc.subjectAdaptive control
dc.subjectFlexible joint robots
dc.subjectSingular perturbations
dc.typeArticle
dc.contributor.departmentELECTRICAL ENGINEERING
dc.description.doi10.1016/0005-1098(96)85559-2
dc.description.sourcetitleAutomatica
dc.description.volume32
dc.description.issue2
dc.description.page273-277
dc.description.codenATCAA
dc.identifier.isiutA1996TT38300015
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