Chercheur

Teachers Login Form

 

Admin

Pupils Login Form

 



Adaptive backstepping control using combined direct and indirect adaptation for a single-link flexible-joint robot

Auteurs : Y. Soukkou, S. Labiod
Année : 2015
Domaine : Automatique
Type : Publication
Revue : International Journal of Industrial Electronics and Drives
Résumé en PDF : (résumé en pdf)
Fulltext en PDF : (.pdf)
Mots clés : Backstepping control, direct and indirect adaptive control, combined adaptation, Lyapunov stability, flexible joint manipulators

Résumé :

In this paper, a new tuning functions based adaptive backstepping controller using combined direct and indirect adaptation for a single-link flexible-joint robot is presented. In this approach, the parameter estimation is driven by a weighted combination of tracking and identification errors. At first, the x-swapping filter identifier with a gradient-type update law is presented for a class of parametric strict-feedback nonlinear systems. Then, the main steps of the controller design for a single-link flexible-joint robot manipulator model are described. The closed-loop error dynamics is shown to be globally stable by using the Lyapunov stability approach. Finally, simulation results are given to illustrate the tracking performance of a single-link flexible-joint robot manipulator with the proposed adaptive control scheme