Abstract:
This paper considers the position tracking control problem of uncertain flexible joint robot system with input time-delay. A new approach is proposed by using prediction ...Show MoreMetadata
Abstract:
This paper considers the position tracking control problem of uncertain flexible joint robot system with input time-delay. A new approach is proposed by using prediction scheme and dynamic surface control method. All the signals of the considered system are guaranteed semi-globally uniformly ultimately bounded. Moreover, the tracking error can be tuned as small as possible. A simulation example is provided to demonstrate the effectiveness of the method.
Published in: 2015 10th Asian Control Conference (ASCC)
Date of Conference: 31 May 2015 - 03 June 2015
Date Added to IEEE Xplore: 10 September 2015
Electronic ISBN:978-1-4799-7862-5