Title: Adaptive backstepping control using combined direct and indirect adaptation for a single-link flexible-joint robot

Authors: Yassine Soukkou; Salim Labiod

Addresses: Laboratoire d'Automatique de Jijel (LAJ), Faculty of Science and Technology, University of Jijel, BP 98, Ouled Aissa, Jijel, Algeria; Welding and NDT Research Center (CSC), BP 64, Cheraga, Algiers, Algeria ' Laboratoire d'Automatique de Jijel (LAJ), Faculty of Science and Technology, University of Jijel, BP 98, Ouled Aissa, Jijel, Algeria

Abstract: In this paper, a new tuning functions-based adaptive backstepping controller using combined direct and indirect adaptation for a single-link flexible-joint robot is presented. In this approach, the parameter estimation is driven by a weighted combination of tracking and identification errors. At first, the x-swapping filter identifier with a gradient-type update law is presented for a class of parametric strict-feedback nonlinear systems. Then, the main steps of the controller design for a single-link flexible-joint robot manipulator model are described. The closed-loop error dynamics is shown to be globally stable by using the Lyapunov stability approach. Finally, simulation results are given to illustrate the tracking performance of a single-link flexible-joint robot manipulator with the proposed adaptive control scheme.

Keywords: backstepping control; adaptive control; indirect adaptation; direct adaptation; Lyapunov stability; flexible joint manipulators; flexible robots; robot control; controller design; parameter estimation; simulation; tracking performance; robot tracking.

DOI: 10.1504/IJIED.2015.068766

International Journal of Industrial Electronics and Drives, 2015 Vol.2 No.1, pp.11 - 19

Received: 26 Mar 2014
Accepted: 10 Jul 2014
Published online: 12 Apr 2015 *

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