Robust Control using Recursive Design Method for Flexible Joint Robot Manipulator

Dynamic modeling and control of flexible manipulators: a review

“…Many scholars use the robust control method to solve this problem [22]. Jong-Guk [23] designed a recursive robust controller to eliminate the effects of uncertainties.…”

Observer-Based Robust Adaptive Tracking for Uncertain Robot Manipulators with External Force Disturbance Rejection

“…These controllers can achieve desired transient response and also convergence of their tracking error is uniform and bounded [103]. The survey on robust control strategies [104] and [105] shows that these kind of controllers are well known and very useful for different applications.…”

Robust backstepping output tracking control for SISO uncertain nonlinear systems with unknown virtual control coefficients

“…A combination approach of adaptive and backstepping methods was presented in Jain and Khorrami (1998) and Wang and Khorrami (2000). A robust controller with backstepping method was applied in Tomei (1999) and Yim, Yeon, Park, Lee, and Hur (2007). The trajectory tracking controllers designed by the methods in Jain and Khorrami (1998), Tomei (1999), Wang and Khorrami (2000) and Yim et al (2007) were complicated due to the 'explosion of terms' (mentioned in Section 1).…”

“…A robust controller with backstepping method was applied in Tomei (1999) and Yim, Yeon, Park, Lee, and Hur (2007). The trajectory tracking controllers designed by the methods in Jain and Khorrami (1998), Tomei (1999), Wang and Khorrami (2000) and Yim et al (2007) were complicated due to the 'explosion of terms' (mentioned in Section 1). As a numerical example, consider a single-link robot arm, whose rotary motion about one end is controlled by an elastically coupled actuator.…”