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It is well known in adaptive control theory that the performance of adaptive controllers can be highly sensitive to the modeling assumptions used to prove convergence. In this paper we discuss the robustness of adaptive control of rigid robots and methods for improving robustness in the face of unmodeled dynamics and external disturbances. Both theoretical and experimental results are presented. Robustness...
The IEEE Conference on Decision and Control is the prime technical event of the IEEE Control System Society. This year's 49th IEEE CDC returns to the USA with last year's conference held in Shanghai jointly with the Chinese Control Conference. We benefited from several ideas and experiences of last year's Program Committee.
In this paper we derive a new adaptive corrective control law for a class of flexible joint robot manipulators with configurationinvariant inertia matrices. The control law consists of a fast controller to damp the elastic oscillations of the joints and a slow (corrective) controller designed based on the theory of integral manifolds for singularly perturbed nonlinear systems. We derive the first...
In this paper we derive a new adaptive corrective control law for a class of flexible joint robot manipulators with configuration-invariant inertia matrices. The control law consists of a fast controller to damp the elastic oscillations of the joints and a slow (corrective) controller designed based on the theory of integral manifolds for singularly perturbed nonlinear systems. We derive the first...
Analytical and experimental results comparing feedback linearization and singular perturbation control techniques for flexible joint robots are presented. The feedback linearization approach results in a globally decoupled linear system which can be controlled using techniques of linear system theory. The singular perturbation approach exploits a natural time-scale separation that results from large...
Analytical and experimental results comparing feedback linearization and singular perturbation control techniques for flexible joint robots are presented. The feedback linearization approach results in a globally decoupled linear system which can be controlled using techniques of linear system theory. The singular perturbation approach exploits a natural time-scale separation that results from large...
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