Skip to main content
SpringerLink
Log in

Robust Regulator for Flexible-Joint Robots Using Integrator Backstepping

  • Published:
Journal of Intelligent and Robotic Systems Aims and scope Submit manuscript

Abstract

A robust regulator for flexible-joint robots is proposed, which yields constant torque disturbance rejection acting on the links. The design uses the integrator backstepping technique [4,5] to cancel nonlinearities and disturbance not in the range space of the control. Stability of the closed loop system is shown using iterative Liapunov functions.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Abouelsoud, A. A., Sultan, M. A. and Hassan, M. F.: Linear state feedback regulator for rigid link manipulators, J. of Intelligent and Robotic Systems 15 (1996), 291–305.

    Google Scholar 

  2. Spong, M. W. and Vidyasager, M. V.: Robot Dynamics and Control, John Wiley, Singapore, 1989.

    Google Scholar 

  3. Abouelsoud, A. A., Sultan, M. A. and Hassan, M. F.: Robust PID regulator for robots yielding constant torque disturbance rejection, Intern. J. of Robotics and Automation 12(1) (1997), 25–32.

    Google Scholar 

  4. Kanellakopoulos, I., Kotovic, P. V. and Morse, A. S.: Systematic design of adaptive controllers for feedback linearizable systems, IEEE AC 36(11) (1991), 1241–1253.

    Google Scholar 

  5. Krstic, M., Kanellakopoulos, I. and Koktovic, P.: Nonlinear and Adaptive Control, John Wiley, New York, 1995.

    Google Scholar 

  6. Abouelsoud, A. A., Hassan, M. F. and Sultan, M. A.: Output regulation for flexible-joint manipulators using partial state measurement, J. of Intelligent and Robotic Systems 17 (1996), 101–110.

    Google Scholar 

  7. Chiang, H. D. and Wu, F. F.: Stability of nonlinear systems described by a second-order vector differential equations, IEEE Circuits and Systems 35(6) (1988), 703–711.

    Google Scholar 

  8. Marino, R. and Nicosia, A.: Singular perturbation techniques in the adaptive control of elastic robots, IFAC Robot Control, Syroco 85, Barcelona pain, 1985, 95–100. JINT1417.tex; 18/03/1998; 13:58; v.7; p.15

    Google Scholar 

  9. Ghorbel, F., Hung, J. Y. and Spong, M. W.: Adaptive control of flexible-joint manipulators, IEEE Control System Magazine 9(7) (1989), 9–13.

    Google Scholar 

  10. Al-ashoor, R. A., Patel, R. A. and Khorasani, K.: Robust adaptive controller design and stability for flexible-joint manipulators, IEEE, SMC 23(2) (1993), 589–602.

    Google Scholar 

  11. Spong, M. W., Khorasani, K. and Koktovic, P. V.: An integral manifold approach to the feedback control of flexible-joint robots, IEEE Robotics and Automation 3(4) (1987), 291–300.

    Google Scholar 

  12. Khalil, H. K.: Nonlinear Systems, MacMillan, New York, 1992. JINT1417.tex; 18/03/1998; 13:58; v.7; p.16

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Electronics and Communications Department, Faculty of Engineering, Cairo University, Giza, Egypt

    A. A. Abouelsoud

Authors
  1. A. A. Abouelsoud
    View author publications

    You can also search for this author in PubMed Google Scholar

Rights and permissions

Reprints and permissions

About this article

Cite this article

Abouelsoud, A.A. Robust Regulator for Flexible-Joint Robots Using Integrator Backstepping. Journal of Intelligent and Robotic Systems 22, 23–38 (1998). https://doi.org/10.1023/A:1007947416837

Download citation

  • Issue Date:

  • DOI: https://doi.org/10.1023/A:1007947416837

Search

Navigation