This paper considers the set-point regulation problem of a flexible-joint robot with unknown parameters where only position measurements are available. The proposed iterative schemes guarantee that every system response converges to an arbitrarily small neighborhood of the equilibrium point. An essential tool in the present approach is the contraction mapping theorem.
- Output controllers
- Set-point control: Global contraction mapping
- Uncertain robots
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering