Direct Fuzzy Adaptive Control of a Manipulator with Elastic Joints

No AccessEngineering NoteDirect Fuzzy Adaptive Control of a Manipulator with Elastic JointsSteve Ulrich and Jurek Z. SasiadekSteve UlrichDepartment of Mechanical and Aerospace Engineering, Carleton University, Ottawa, Ontario K1S 5B6, Canada and Jurek Z. SasiadekDepartment of Mechanical and Aerospace Engineering, Carleton University, Ottawa, Ontario K1S 5B6, CanadaPublished Online:30 Jan 2013https://doi.org/10.2514/1.57585SectionsRead Now ToolsAdd to favoritesDownload citationTrack citations About References [1] Khorasani K., "Nonlinear Feedback Control of Flexible Joint Manipulators: A Single Link Case Study," IEEE Transactions on Automatic Control, Vol. 35, No. 10, 1990, pp. 1145–1149. doi: https://doi.org/10.1109/9.58558 IETAA9 0018-9286 CrossrefGoogle Scholar[2] Palli G., Melchiorri C. and De Luca A., "On the Feedback Linearization of Robots with Variable Joint Stiffness," IEEE International Conference on Robotics and Automation, Inst. of Electrical and Electronics Engineersy, Piscataway, NJ, May 2008, pp. 1753–1759. Google Scholar[3] Egardt B., Stability of Adaptive Controllers, Springler–Verlag, Berlin, 1979, pp. 1–8. CrossrefGoogle Scholar[4] Cao Y. and de Silva C. 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