Abstract
In this paper, a new tuning functions–based adaptive backstepping controller using combined direct and indirect adaptation for a single–link flexible–joint robot is presented. In this approach, the parameter estimation is driven by a weighted combination of tracking and identification errors. At first, the x–swapping filter identifier with a gradient–type update law is presented for a class of parametric strict–feedback nonlinear systems. Then, the main steps of the controller design for a single–link flexible–joint robot manipulator model are described. The closed–loop error dynamics is shown to be globally stable by using the Lyapunov stability approach. Finally, simulation results are given to illustrate the tracking performance of a single–link flexible–joint robot manipulator with the proposed adaptive control scheme.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: International Journal of Industrial Electronics and Drives
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
