FAT-based robust adaptive control of flexible-joint robots: Singular perturbation approach

Abstract

This paper is concerned with the problem of designing a robust adaptive control strategy for flexible joint robots (FJR). Under the assumption of weak joint elasticity, FJR is firstly modeled and converted into singular perturbation form. The control law consists of a FAT-based adaptive control strategy and a simple correction term are then used to stability of the slow dynamics, and damp out the elastic oscillations of the joints, respectively. The stability analysis are provided according to the Lyapunov second method. Simulation results on a single-link flexible joint robot demonstrate high performance of the proposed control schemes.