Simplified Function Approximation Technique in Synthesis of Adaptive Control System for A Flexible Joint 4-DOF Robotic Manipulator with Executive Electric Drives

Abstract

An adaptive control system for a flexible joint 4 DOF robotic manipulator with executive electric drives of a typical design is developed, synthesized based on step-by-step synthesis (backstepping) and the function approximation method. In this report, a simplified modification of the well-known (direct) function approximation technique was proposed, which allows reducing the order of the synthesized adaptive system and the computationally intensive. The results of a comparative computer study of the effectiveness of the initial modified function approximation method in control problem of the dynamic system of a flexible joint 4 DOF robotic manipulator with executive electric drives are presented.