ADAPTIVE ROBUST CONTROL FOR FLEXIBLE JOINT MANIPULATORS WITH MISMATCHED UNCERTAINTY: DEAD-ZONE ADAPTATION

摘要

We consider a kind of flexible joint manipulators which are nonlinear, time-varying and contain mismatched uncertainty. The inertia matrix can be used to construct Lyapunov function although some joints are prismatic. By creatively implanting a fictitious control and suggesting a state transformation, an adaptive robust controller, which is governed by dead-zone adaptive law, is designed to guarantee the uniform boundedness and uniform ultimate bound-edness properties of the system. This control is only based on the existence of the uncertainty bound. A numerical example illustrates our conclusions.