Int. J. Industrial Electronics and Drives, Vol. 2, No. 1, pp. 11-19, 2015
Adaptive Backstepping Control Using Combined Direct and Indirect Adaptation for a Single-Link Flexible-Joint Robot
Y. Soukkou 1,2 and S. Labiod 1
1 Laboratoire d’Automatique de Jijel (LAJ), Faculty of Science and Technology, University of Jijel, BP. 98, Ouled Aissa, Jijel, Algeria
2 Welding and NDT Research Center (CSC), BP. 64, Cheraga, Algiers, Algeria soukkou_yassine@yahoo.fr; labiod_salim@yahoo.fr
ABSTRACT
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.
KEYWORDS
Backstepping control, direct and indirect adaptive control, combined adaptation, Lyapunov stability, flexible joint manipulators.
