Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: A robust nonlinear adaptive control strategy is proposed to stabilize a robot manipulator subject to parametric and dynamic uncertainties. This is accomplished by utilizing state feedback and applying a control space transformation to a reduced-order model without parametric uncertainty. Under appropriate assumptions on the nature of the reduced-order uncertainties, an adaptive control strategy that compensates the nonlinear uncertainties is designed for the reduced-order feedback linearized system. An advantage of the proposed technique is that it requires external (feedback) linearization and update laws to be derived only from the reduced-order model, although the control strategy is applied to the full system. Numerical results for a single-link uncertain flexible-joint manipulator are included to illustrate the implementation and testing of the proposed method. >
['K. Khorasani']
I am writing a research paper on a idea Robust adaptive stabilization of flexible joint manipulators
[{"from": "human", "value": "I am writing a research paper on a idea Robust adaptive stabilization of flexible joint manipulators"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: A robust nonlinear adaptive control strategy is proposed to stabilize a robot manipulator subject to parametric and dynamic uncertainties. This is accomplished by utilizing state feedback and applying a control space transformation to a reduced-order model without parametric uncertainty. Under appropriate assumptions on the nature of the reduced-order uncertainties, an adaptive control strategy that compensates the nonlinear uncertainties is designed for the reduced-order feedback linearized system. An advantage of the proposed technique is that it requires external (feedback) linearization and update laws to be derived only from the reduced-order model, although the control strategy is applied to the full system. Numerical results for a single-link uncertain flexible-joint manipulator are included to illustrate the implementation and testing of the proposed method. >"}]