Adaptive Sliding Control for Single-Link Flexible-Joint Robot With Mismatched Uncertainties
- 30 August 2004
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Control Systems Technology
- Vol. 12 (5), 770-775
- https://doi.org/10.1109/tcst.2004.826968
Abstract
An adaptive sliding controller is proposed for a single-link flexible-joint robot with mismatched uncertainties. A backsteppinglike design is used to deal with the mismatched problem and the function approximation technique is employed to transform the uncertainties into finite combinations of orthonormal basis functions. Adaptive laws can thus be derived based on the Lyapunov-like design. Experiment results show that the proposed control strategy gives good tracking performance with all other signals remaining bounded.Keywords
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