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

Type : Publication
Auteur(s) :  Y. Soukkou, S. Labiod
Année :  2015
Domaine : Automatique
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