ALGORITHMS FOR FLEXIBLE JOINTS MANIPULATOR USING ADAPTIVE OBSERVER

Abstract

This work proposes an adaptive control application for flexible joint
manipulator employing observers. An interstitial noise function must be added
since the objective of this controller is to watch the overall variables with input
uncertainty parameters and take into account the interference effects of the
joints. The state feedback controller in conjunction with channels from other joints
in the observer, such as the SMO sliding observer and the HGO big gain observer,
will give the robot's motion system flexible joints. steady as well as interference-
free.