Control Design for Flexible Joint Manipulators with Mismatched Uncertainty : Adaptive Robust Scheme

Control Design for Flexible Joint Manipulators with Mismatched Uncertainty : Adaptive Robust Scheme

Adaptive robust control scheme is introduced for flexible joint manipulator with nonlinearities and uncertainties. The system does not satisfy the matching condition due to insufficient actuators for each node. The control only relies on the assumption that the bound of uncertainty exists. Thus, the bounded value does not need to be known a prior. The control utilizes the update law by estimating the bound of the uncertainties. The control scheme uses the backstepping method and constructs a state transformation. Also, stability analysis is done for both transformed system and original system.