Robust adaptive control of flexible joint manipulators

Sandeep Jain, Farshad Khorrami

Research output: Contribution to journalArticlepeer-review


This paper presents an application of the robust adaptive design procedure developed in Jain and Khorrami (1995) to flexible joint manipulators. The design guarantees robustness to parametric and dynamic uncertainties and also rejects any bounded, unmeasurable disturbances entering the system. In the strict matching case, the scheme can be used to design robust controllers for robotic manipulators. The design is extended to systems transformable to a special strict feedback form. The proposed scheme when applied to multi-link robotic manipulators with joint flexibility guarantees a robust performance even if the Coriolis, centrifugal, joint flexibility and friction terms in the manipulator dynamics are completely unknown.

Original languageEnglish (US)
Pages (from-to)609-615
Number of pages7
Issue number5
StatePublished - May 1998


  • Flexible joint manipulators
  • Nonlinear
  • Robust adaptive control
  • Uncertainties

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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