• Aucun résultat trouvé

Direct adaptive backstepping control with tuningfunctions for a single-link flexible-joint robot

N/A
N/A
Info
Télécharger
Protected

Academic year: 2021

Partager "Direct adaptive backstepping control with tuningfunctions for a single-link flexible-joint robot"

Copied!
1
0
0

Chargement.... (Voir le texte intégral maintenant)

Texte intégral

(1)

1st International Workshop on Advanced Control, IWAC2014 2014

Direct adaptive backstepping control with tuning functions for a single-link flexible-joint robot

Y. Soukkou, A. Boutaghane, H. Khebbache

Abstract : In this paper, direct adaptive backstepping control with tuning functions approach for a single-link flexible-joint robot model is proposed. The proposed approach of adaptation is based on the tracking error based parameter adaptation law. First, the direct adaptive backstepping control with tuning functions is applied for a class of nonlinear systems in parametric strict-feedback form to avoid overparametrization. Next, the main steps of the controller design for a single-link flexible-joint robot manipulator model are described. The stability of the proposed controller is studied by using the Lyapunov functions. Finally, the simulation results are given to demonstrate the performance of the proposed approach.

Keywords : Single-link flexible-joint robot, Backstepping control, direct adaptive control, tuning functions, direct adaptation

Centre de Recherche en Technologies Industrielles - CRTI - www.crti.dz

Powered by TCPDF (www.tcpdf.org)

Références

Télécharger maintenant ( PDF - 1 Page - 7.61 KB )

Documents relatifs

Adaptive backstepping control using combined direct and indirect - modification adaptation

In this paper, by using the dynamic surface control technique, an adaptive backstepping controller using combined direct and indirect -modification adaptation is

Composite adaptive dynamic surface control ofnonlinear systems in parametric strict-feedbackform

It is proved that the proposed scheme guarantees uniform ultimate boundedness of all signals in the closed-loop system with arbitrary small surface error by adjusting the

Direct Adaptive Backstepping Control with Tuning Functions for a Single-Link Flexible-Joint Robot

In this paper, direct adaptive backstepping control with tuning functions approach for a single-link flexible-joint robot model is proposed.. The proposed approach of

Indirect adaptive backstepping control by usingthe virtual controls filtering

Abstract : In this paper, by using the dynamic surface control technique, an indirect adaptive backstepping controller based x-swapping identifier with a gradient-type update law

Indirect Adaptive Backstepping Control by Using the Virtual Controls Filtering

In this paper, by using the dynamic surface control technique, an indirect adaptive backstepping controller based x -swapping identifier with a gradient-type update law is

Adaptive Backstepping Control Using Combined Direct and Indirect –Modification Adaptation

In this paper, by using the dynamic surface control technique, an adaptive backstepping controller using combined direct and indirect  -modification adaptation is proposed for

Adaptive backstepping control using combineddirect and indirect adaptation for a single-linkflexible-joint robot

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

Adaptive Backstepping Control Using Combined Direct and Indirect Adaptation for a Single-Link Flexible-Joint Robot

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