This paper is concerned with the problem of designing a robust adaptive controller for flexible joint robots (FJR). Under the assumption of weak joint elasticity, FJR is firstly modeled and converted into singular perturbation form. The control law consists of a FAT-based adaptive control strategy and a simple correction term. The first term of the controller is used to stability of the slow dy...

We propose a continuous-time version of the adaptive robust methodology introduced in T. R. Bielecki et al. [SIAM J. Control Optim., 57 (2019), pp. 925--946]. An agent solves stochastic control p...

In this paper, the tracking problem for robot manipulators in the presence of unknown friction and modeling uncertainties is considered. A composite tracking control scheme is proposed in which an adaptive friction estimation is used to estimate the extent of friction and a robust controller is then designed to enhance the overall stability and robustness. It is shown that the design of the fri...

a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...