A Composite Approach to wavelet Adaptive Control of Nonlinear Flexible Joint Robots

In this paper, a new composite control approach to the adaptive wavelet control presented for rigid link flexible joint (RLFJ) with unknown parameters.Singular perturbation method used for robot motion dynamics in two subsystems: a slow subsystem and a fast subsystem. Furthermore, simultaneous tracking and suppression of vibration in joint of manipulator is possible by application of the composite controller and the stability of the closed loop system is guaranteed through Lyapunov stability analysis. After proposed the controller, we perform some simulation for the system. The simulation results show the effectiveness of the approach

Keywords:

adaptive control , flexible joint , singular perturbation method , wavelet networks