ADAPTIVE ROBUST CONTROL FOR FLEXIBLE JOINT MANIPULATORS WITH MISMATCHED UNCERTAINTY: DEAD-ZONE ADAPTATION

Fangfang Dong, Jiang Han, and Ye-Hwa Chen

Keywords

Adaptive control, robust control, uncertain system, flexible joint robot, deadzone

Abstract

We consider a kind of flexible joint manipulators which are nonlinear, time-varying and contain mismatched uncertainty. The inertia matrix can be used to construct Lyapunov function although some joints are prismatic. By creatively implanting a fictitious control and suggesting a state transformation, an adaptive robust controller, which is governed by dead-zone adaptive law, is designed to guarantee the uniform boundedness and uniform ultimate boundedness properties of the system. This control is only based on the existence of the uncertainty bound. A numerical example illustrates our conclusions.

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