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Robust Adaptive Control for Coordinated Constrained Multiple Flexible Joint Manipulators with Hysteresis Loop
Joint Authors
Shao, Zhulong
Xu, Pandeng
Yin, Huaiqiang
Shu-rong, Li
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-05-14
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
This paper focuses on the position/force tracking control problem for constrained multiple flexible joint manipulators system with nonlinear input of hysteresis loop.
Firstly, the dynamic model is given in the task space and the input of hysteresis loop model is approximated by a differential equation.
Secondly, considering the disturbance with unknown bounds, a robust adaptive control strategy based on the sliding mode which consists of constraint force error and position error is designed.
The proposed approach can not only compensate the model error, external disturbance, and flexible parameter uncertainties, but also drive the closed-loop system variables to reach the sliding model surface.
Then it can be proved that both position and constraint force errors can be guaranteed to converge to zero.
Finally, the simulation results can verify the effectiveness of the proposed method.
American Psychological Association (APA)
Shu-rong, Li& Shao, Zhulong& Xu, Pandeng& Yin, Huaiqiang. 2018. Robust Adaptive Control for Coordinated Constrained Multiple Flexible Joint Manipulators with Hysteresis Loop. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-9.
https://search.emarefa.net/detail/BIM-1206271
Modern Language Association (MLA)
Shu-rong, Li…[et al.]. Robust Adaptive Control for Coordinated Constrained Multiple Flexible Joint Manipulators with Hysteresis Loop. Mathematical Problems in Engineering No. 2018 (2018), pp.1-9.
https://search.emarefa.net/detail/BIM-1206271
American Medical Association (AMA)
Shu-rong, Li& Shao, Zhulong& Xu, Pandeng& Yin, Huaiqiang. Robust Adaptive Control for Coordinated Constrained Multiple Flexible Joint Manipulators with Hysteresis Loop. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-9.
https://search.emarefa.net/detail/BIM-1206271
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1206271