Robust trajectory tracking for manipulators with joint flexibility via backstepping

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Robust adaptive control for multi-link manipulators with joint flexibility is considered in this paper. The scheme is presented under the assumption that the Coriolis, centrifugal, gravity, joint flexibility, friction terms, actuator inertia matrix, torsional damping coefficients, and the disturbances in the manipulator dynamics are completely unknown. Only the inertia matrix for the rigid links is known. The objective of the control design is to robustly track a reference model. A robust adaptive control under strict matching is established and applied to the control design of multi-link manipulators via backstepping. The main contribution of this paper is to avoid overparametrization, to include more parametric uncertainties, and to present a design methodology which allows the presence of uncertainties and disturbances bounded by general nonlinear functions.

Original languageEnglish (US)
Pages (from-to)2849-2853
Number of pages5
JournalProceedings of the American Control Conference
StatePublished - 2000
Event2000 American Control Conference - Chicago, IL, USA
Duration: Jun 28 2000Jun 30 2000

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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