@inproceedings{766ef81f1140436f920d7cd912c0ebfc,
title = "Adaptive controller for flexible-joint robot",
abstract = "An adaptive controller is proposed for flexible-joint robot subject to parameter uncertainties. The backstepping control framework has been used to obtain the virtual controller and the actual control input. Besides, the derived controller is based on non-certainty-equivalent adaptive control methodology. A set of two-order filters are also embedded into the corresponding attractive manifold design. It is proved that the position of flexible-joint robot can stabilize towards the desired position, and moreover the estimate of uncertain parameters can converge to the real values to some degrees.",
keywords = "Flexible-joint robot, Non-certainty-equivalent adaptive controller, Parameter uncertainies, Second-order linear filters",
author = "Lei Zhang and Yingmin Jia and Xuhui Lu",
note = "Publisher Copyright: {\textcopyright} 2018, Springer Nature Singapore Pte Ltd.; Chinese Intelligent Systems Conference, CISC 2017 ; Conference date: 14-10-2017 Through 15-10-2017",
year = "2018",
doi = "10.1007/978-981-10-6496-8\_22",
language = "英语",
isbn = "9789811064951",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Verlag",
pages = "237--248",
editor = "Junping Du and Weicun Zhang and Yingmin Jia",
booktitle = "Proceedings of 2017 Chinese Intelligent Systems Conference",
address = "德国",
}