Robust Adaptive Position/Force Control for Flexible-Link with Flexible-Joint Manipulator

  • Baigeng WangEmail author
  • Shurong Li
  • Zhe Liu
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 582)


In this paper, a robust adaptive position/force control strategy based on a terminal sliding-mode was designed for the constrained flexible-link and flexible-joint manipulator. At first, the dimensional reduced dynamic model of flexible link with flexible joint is obtained by coordinate transformation. Then, in order to guarantee the stability of the system, the controller design process is divided into three steps. Furthermore, by using the theory of finite-time, the controller can guarantee that the position error and force error asymptotic converge to zero in finite time. Finally, the simulation results illustrate the validity and the feasibility of the proposed method in this paper.


Flexible link Flexible joint Adaptive control Sliding mode 


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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.College of AutomationBeijing University of Posts and TelecommunicationsBeijingChina

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