Robust Adaptive Guaranteed Cost Tracking Control for Flexible Joint Robot Based on FAS Approach

This paper investigates the guaranteed cost tracking control problem for a class of flexible joint robots (FJRs) with time-varying uncertainty and disturbance. To design the controller, the original FJR system is converted into the corresponding fully actuated system (FAS) model. Then, based on the FAS approach and the guaranteed cost control, the robust adaptive guaranteed cost tracking controller is designed, ensuring the global boundedness of all signals of the closed-loop FJR. Most importantly, the designed controller can preset arbitrarily the upper bound of the defined cost function characterizing the tracking performance of the FJR. Finally, simulation results prove the effect of the proposed control method.