Adaptive stabilization of underactuated flexible-joint robots using an energy approach and min-max algorithms

Abstract

An adaptive control design method for the control of a two-link robotic mechanism with springs between the links using a single actuator is presented in this paper. It is shown that when the parameters are unknown, a stabilizing control strategy can be presented which makes use of an underlying convex parametrization present in the problem. An energy approach, combined with min-max algorithms, makes up the complete adaptive controller.