Dual mode nonlinear adaptive control and stabilization of an elastic robotic arm

Abstract

Control of elastic robotic systems with rotational joints is considered. The control system design treats the large joint-angle maneuver problem separately from the terminal stabilization problem. First, a nonlinear adaptive control law is derived such that in the closed-loop system the joint-angles are precisely controlled to track reference trajectories. Once the joint angle enters the vicinity of the desired terminal value, a stabilizer designed using a linear model of the arm is switched to accomplish the final capture of the desired state. Extensive simulation results showed that in the closed-loop system accurate trajectory tracking and elastic mode stabilization can be accomplished.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>