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ABSTRACT
A robust adaptive control scheme for flexible link robotic manipulators is presented. The design is based on considering the flexible mechanical structure as a singular perturbed system, which allows us to assume the existence of slow (rigid) and fast (flexible) modes that separately can be controlled. The rigid dynamics are controlled by means of a robust sliding adaptive approach with well-established stability properties. The flexible dynamics can be controlled using H ∞ or optimal designs, which successfully handle the actual interaction between the slow and fast subsystems. This composite approach achieves good closed-loop tracking properties, both in simulation and experimental results on a laboratory-flexible arm.
ACKNOWLEDGMENTS
The authors are gateful to UPV/EHU for partial support of this work through projects UPV 00224.310-E-14877 and 9/UPV 00224.310-15254/2003. They are also grateful to the Basque Government for grant BFI04.440.