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adaptive dynamic surface control of a flexible-joint robot with parametric uncertainties
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نویسنده
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li c.g. ,cui w. ,yan d.d. ,wang y. ,wang c.m.
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منبع
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scientia iranica - 2019 - دوره : 26 - شماره : 5-B - صفحه:2749 -2759
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چکیده
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A new kind of adaptive dynamic surface control (dsc) method is proposed to overcome parametric uncertainties of flexiblejoint (fj) robots. these uncertainties of fj robots are transformed into linear expressions of inertial parameters which are estimated based on the dsc, and the highorder derivatives in dsc are solved by using firstorder filter. the adaptation laws of inertial parameters are designed directly to improve the tracking performance according to the lyapunov stability analysis. simulation results for a twolink fj robot show the better tracking accuracy against model parametric uncertainties. the method used does not need aid of neural network (nn), and is simpler and calculation faster than the other adaptive methods
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کلیدواژه
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fj robot ,dynamic surface control ,inertial parameters ,adaptive control ,tracking accuracy
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آدرس
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nanjing university of aeronautics and astronautics, college of mechanical and electrical engineering, china, nanjing university of aeronautics and astronautics, college of mechanical and electrical engineering, china, nanjing university of aeronautics and astronautics, college of mechanical and electrical engineering, china, nanjing university of aeronautics and astronautics, college of mechanical and electrical engineering, china, nanjing university of aeronautics and astronautics, college of mechanical and electrical engineering, china
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Authors
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