Robust and adaptive control with application to mechanical systems

Abstract

In this paper a robot with n degrees of freedom is considered. The dynamical equations can be obtained by the Newton-Euler or the Lagrange method. Many control algorithms exist in the literature. There are robust control algorithms and adaptive control algorithms. In this paper a combination of robust control and adaptive control is proposed. This method gives a better performance than only robust and only adaptive methods. Two robust control methods are studied in this paper: variable structure control and H infinity control. A real time identification is used and the controller is adapted in real time. We have Lyapunov stability or input-output stability under some assumptions. The method can be applied to robotics. The method can also be applied to many other systems for example electrical motors and machine tools. Simulation results are given. This method can be used in automatic production lines.