Robust adaptive controller design and stability analysis for flexible-joint manipulators

1993 ◽  
Vol 23 (2) ◽  
pp. 589-602 ◽  
Author(s):  
R.A. Al-Ashoor ◽  
R.V. Patel ◽  
K. Khorasani
Keyword(s):  
Stability Analysis ◽  
Controller Design ◽  
Adaptive Controller ◽  
Flexible Joint ◽  
Robust Adaptive ◽  
Robust Adaptive Controller

Robust adaptive controller design for flexible joint manipulators

1992 ◽  
Vol 9 (2) ◽  
pp. 101-112 ◽  
Author(s):  
R.A. Al-Ashoor ◽  
K. Khorasani ◽  
R.V. Patel ◽  
A.J. Al-Khalili
Keyword(s):  
Controller Design ◽  
Adaptive Controller ◽  
Flexible Joint ◽  
Robust Adaptive ◽  
Robust Adaptive Controller

scholarly journals Robust adaptive controller design for excavator arm

2019 ◽  
Vol 8 (4) ◽  
pp. 293
Author(s):  
Nga Thi-Thuy Vu
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Lyapunov Stability Theory ◽  
Adaptive Controller ◽  
Closed Loop System ◽  
Model Free ◽  
Lagrange Form ◽  
Robust Adaptive ◽  
The Stability ◽  
Robust Adaptive Controller

This paper presents a robust adaptive controller that does not depend on the system parameters for an excavator arm. Firstly, the model of the excavator arm is demonstrated in the Euler-Lagrange form considering with overall excavator system. Next, a robust adaptive controller has been constructed from information of state error. In this paper, the stability of overall system is mathematically proven by using Lyapunov stability theory. Also, the proposed controller is model free then the closed loop system is not affected by disturbances and uncertainties. Finally, the simulation is executed in Matlab/Simulink for both presented scheme and the PD controller under some conditions to ensure that the proposed algorithm given the good performances for all cases.

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