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oai:www.ideals.illinois.edu:2142/20295 2023-07-10 col_2142_5131 col_2142_14787 com_2142_5130 com_2142_9630 com_2142_234

Spong, Mark W. Ghorbel, Fathi 2011-05-07T12:35:10Z 2011-05-07T12:35:10Z 10000-01-01 1991 The adaptive control of flexible joint robot manipulators using composite control is presented first. This slow/fast control strategy consists of a slow adaptive controller designed for a rigid robot together with a fast controller to damp the elastic oscillations of the joints. The mathematical details and rigorous stability proofs of this algorithm are presented. Using the composite Lyapunov theory for singularly perturbed systems, sufficient conditions for adaptive trajectory tracking a presented. A second approach based on the method of integral manifolds for singularly perturbed systems is presented next. The known parameter case is treated and stability analysis is included. The method of integral manifolds is then extended to the adaptive case. Sufficient conditions for adaptive trajectory tracking are presented for both the general case and a special class of robot manipulators. Finally experimental and simulation results are included to illustrate different aspects of the results including adaptive instability mechanisms. Made available in DSpace on 2011-05-07T12:35:10Z (GMT). No. of bitstreams: 2 license.txt: 4922 bytes, checksum: 910b249b4beec47e7ab768910c8f966f (MD5) 9136599.pdf: 6463373 bytes, checksum: 82f73157f913d6545482e511a6b1c28f (MD5) Previous issue date: 1991 Item marked as restricted to the 'UIUC Users [automated]' Group (id=2) by Howard Ding (hding2@illinois.edu) on 2011-05-07T14:42:56Z Item is restricted indefinitely. Restriction data tranferred 2014-07-01T11:18:43-05:00 Original Data Group with Access UIUC Users [automated] Release Date: none Reason: ETDs are only available to UIUC Users without author permission ETDs are only available to UIUC Users without author permission U of I Only AAI9136599 (UMI)AAI9136599 http://hdl.handle.net/2142/20295 eng Copyright 1991 Ghorbel, Fathi Engineering, Electronics and Electrical Engineering, Mechanical Engineering, System Science Adaptive control of flexible joint robot manipulators: A singular perturbation approach text Mechanical Science and Engineering Mechanical Engineering University of Illinois at Urbana-Champaign Dissertation Ph.D.