{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/20295"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/20295","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Adaptive control of flexible joint robot manipulators: A singular perturbation approach","abstract":"The adaptive control of flexible joint robot manipulators using composite control is presented first. This slow/fast control strategy consists of a slow adaptive controller designed for a rigid robot together with a fast controller to damp the elastic oscillations of the joints. The mathematical details and rigorous stability proofs of this algorithm are presented. Using the composite Lyapunov theory for singularly perturbed systems, sufficient conditions for adaptive trajectory tracking a presented. A second approach based on the method of integral manifolds for singularly perturbed systems is presented next. The known parameter case is treated and stability analysis is included. The method of integral manifolds is then extended to the adaptive case. Sufficient conditions for adaptive trajectory tracking are presented for both the general case and a special class of robot manipulators. Finally experimental and simulation results are included to illustrate different aspects of the results including adaptive instability mechanisms.","abstract_html":"The adaptive control of flexible joint robot manipulators using composite control is presented first. This slow/fast control strategy consists of a slow adaptive controller designed for a rigid robot together with a fast controller to damp the elastic oscillations of the joints. The mathematical details and rigorous stability proofs of this algorithm are presented. Using the composite Lyapunov theory for singularly perturbed systems, sufficient conditions for adaptive trajectory tracking a presented. A second approach based on the method of integral manifolds for singularly perturbed systems is presented next. The known parameter case is treated and stability analysis is included. The method of integral manifolds is then extended to the adaptive case. Sufficient conditions for adaptive trajectory tracking are presented for both the general case and a special class of robot manipulators. Finally experimental and simulation results are included to illustrate different aspects of the results including adaptive instability mechanisms.","abstract_has_math":false,"creators":["Ghorbel, Fathi"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Spong, Mark W."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2011,"date_issued":"2011-05-07T12:35:10Z","date_published":"2011-05-07T12:35:10Z","updated_at":"2026-07-22T22:25:15Z","subjects":["Engineering, Electronics and Electrical","Engineering, Mechanical","Engineering, System Science"],"languages":["eng"],"rights":["Copyright 1991 Ghorbel, Fathi"],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["AAI9136599","(UMI)AAI9136599"],"render_values":[{"text":"AAI9136599","href":null,"code":true},{"text":"(UMI)AAI9136599","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/2142/20295","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Spong, Mark W."]},{"key":"dc:creator","label":"Author","values":["Ghorbel, Fathi"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2011-05-07T12:35:10Z","10000-01-01","1991"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Engineering, Electronics and Electrical","Engineering, Mechanical","Engineering, System Science"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["eng"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 1991 Ghorbel, Fathi"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["AAI9136599","(UMI)AAI9136599","http://hdl.handle.net/2142/20295"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["The adaptive control of flexible joint robot manipulators using composite control is presented first. This slow/fast control strategy consists of a slow adaptive controller designed for a rigid robot together with a fast controller to damp the elastic oscillations of the joints. The mathematical details and rigorous stability proofs of this algorithm are presented. Using the composite Lyapunov theory for singularly perturbed systems, sufficient conditions for adaptive trajectory tracking a presented. A second approach based on the method of integral manifolds for singularly perturbed systems is presented next. The known parameter case is treated and stability analysis is included. The method of integral manifolds is then extended to the adaptive case. Sufficient conditions for adaptive trajectory tracking are presented for both the general case and a special class of robot manipulators. Finally experimental and simulation results are included to illustrate different aspects of the results including adaptive instability mechanisms.","Made available in DSpace on 2011-05-07T12:35:10Z (GMT). No. of bitstreams: 2 license.txt: 4922 bytes, checksum: 910b249b4beec47e7ab768910c8f966f (MD5) 9136599.pdf: 6463373 bytes, checksum: 82f73157f913d6545482e511a6b1c28f (MD5) Previous issue date: 1991","Item marked as restricted to the 'UIUC Users [automated]' Group (id=2) by Howard Ding (hding2@illinois.edu) on 2011-05-07T14:42:56Z Item is restricted indefinitely.","Restriction data tranferred 2014-07-01T11:18:43-05:00 Original Data Group with Access UIUC Users [automated] Release Date: none Reason: ETDs are only available to UIUC Users without author permission","ETDs are only available to UIUC Users without author permission","U of I Only"]},{"key":"dc:title","label":"Title","values":["Adaptive control of flexible joint robot manipulators: A singular perturbation approach"]}]}],"canonical_facts":{"dc:contributor":["Spong, Mark W."],"dc:creator":["Ghorbel, Fathi"],"dc:date":["2011-05-07T12:35:10Z","10000-01-01","1991"],"dc:description":["The adaptive control of flexible joint robot manipulators using composite control is presented first. This slow/fast control strategy consists of a slow adaptive controller designed for a rigid robot together with a fast controller to damp the elastic oscillations of the joints. The mathematical details and rigorous stability proofs of this algorithm are presented. Using the composite Lyapunov theory for singularly perturbed systems, sufficient conditions for adaptive trajectory tracking a presented. A second approach based on the method of integral manifolds for singularly perturbed systems is presented next. The known parameter case is treated and stability analysis is included. The method of integral manifolds is then extended to the adaptive case. Sufficient conditions for adaptive trajectory tracking are presented for both the general case and a special class of robot manipulators. Finally experimental and simulation results are included to illustrate different aspects of the results including adaptive instability mechanisms.","Made available in DSpace on 2011-05-07T12:35:10Z (GMT). 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