CONTROL OF RIGID-LINK, FLEXIBLE-JOINT ROBOTS - A SURVEY OF BACKSTEPPING METHODS

被引：71

作者：

BRIDGES, MM

DAWSON, DM

ABDALLAH, CT

机构：

[1] CLEMSON UNIV,DEPT ELECT & COMP ENGN,CLEMSON,SC 29634

[2] UNIV NEW MEXICO,DEPT ELECT & COMP ENGN,ALBUQUERQUE,NM 87131

来源：

JOURNAL OF ROBOTIC SYSTEMS | 1995年 / 12卷 / 03期

关键词：

D O I：

10.1002/rob.4620120305

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The purpose of this article is to show how the design procedure commonly referred to as integrator backstepping can be used to design globally stable trajectory tracking controllers for Rigid-Link Flexible-Joint (RLFJ) robot manipulators. Three different types of controllers are developed: (1) an exact model knowledge-based controller, (2) an adaptive controller that compensates for parametric uncertainty, and (3) a robust controller that compensates for parametric uncertainty and unknown bounded disturbances. All three controllers are based on previously published work but are presented here in a unifying framework. (C) 1995 John Wiley & Sons, Inc.

引用

页码：199 / 216

页数：18

共 37 条

[1] Abdallah C., 1991, IEEE Control Systems Magazine, V11, P24, DOI 10.1109/37.67672
[2] ROBUST ADAPTIVE CONTROLLER-DESIGN AND STABILITY ANALYSIS FOR FLEXIBLE-JOINT MANIPULATORS
ALASHOOR, RA
PATEL, RV
KHORASANI, K
[J]. IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS, 1993, 23 (02): : 589 - 602
[3] BENEALLEGUE A, 1991, P IMACS MCTS 91, V1, P481
[4] BROGLIATO B, 1993, 2 EUR CONTR C NETH, V2, P898
[5] CHEN K, 1989, P IEEE INT C ROB AUT, V2, P1201
[6] Dawson D. M., 1993, International Journal of Robotics & Automation, V8, P13
[7] DAWSON DM, 1991, P 30 IEEE C DEC CONT, V2, P1409
[8] DELUCA A, 1988, APR P IEEE INT C ROB, P24
[9] FICOLA A, 1983, P ALLERTON C COMMUN
[10] GHORBEL F, 1990, PROCEEDINGS OF THE 29TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, P2538, DOI 10.1109/CDC.1990.203465

← 1 2 3 4 →