Abstract
Abstract This paper proposes a new model-based control for flexible-link robots based on Lyapunov stability theorem, where a V-shape Lyapunov function is introduced for the flexible robot dynamics that do not satisfy the so-called matching condition. First, a new model-based nonlinear control is proposed based on a V-shape Lyapunov function, where the global exponential stability of the control is obtained. The model-based control is then extended to a model-based adaptive control to cope with parametric uncertainties in the dynamics, where the global asymptotic stability of the control is attained. The effectiveness of the proposed approach has been shown by computer simulation.
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 callDisclaimer: 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.
