A New Adaptive Tracking Control Approach for Uncertain Flexible Joint Robot System

作     者：Zhen-Guo Liu Jin-Ming Huang 

作者机构：School of Automation Southeast University School of Engineering Qufu Normal University 

出 版 物：《International Journal of Automation and computing》 (国际自动化与计算杂志（英文版）)

年 卷 期：2015年第12卷第5期

页      面：559-566页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0701[理学-数学] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：supported by National Natural Science Foundation of China(No.61273091) the Project of Taishan Scholar of Shandong Province the Ph.D.Programs Foundation of Ministry of Education of China 

主　　题：Flexible joint robots adaptive control backsteppin 

摘      要：The adaptive tracking problem for uncertain flexible joint robot system is studied in this paper. By utilizing the adaptive backstepping method, an adaptive controller is constructed at the beginning. By utilizing the modified adaptive dynamic surface control technique, a new adaptive controller is presented afterwards to avoid the overparametrization problem and the explosion of complexity problem existing in the adaptive backstepping method. All the signals of the closed-loop system are rendered globally/semi-globally uniformly ultimately bounded, and the tracking error can be made arbitrarily small by tuning the designed parameters. A simulation example is given to show the validity of the control algorithm.