Abstract
ABSTRACT A robust adaptive control scheme for flexible link robotic manipulators is presented. The design is based on considering the flexible mechanical structure as a singular perturbed system, which allows us to assume the existence of slow (rigid) and fast (flexible) modes that separately can be controlled. The rigid dynamics are controlled by means of a robust sliding adaptive approach with well-established stability properties. The flexible dynamics can be controlled using H ∞ or optimal designs, which successfully handle the actual interaction between the slow and fast subsystems. This composite approach achieves good closed-loop tracking properties, both in simulation and experimental results on a laboratory-flexible arm.
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.
