A new kind of adaptive Dynamic Surface Control (DSC) method is proposed in this study to overcome parametric uncertainties of Flexible-Joint (FJ) robots. These uncertainties of FJ robots are transformed into linear expressions of inertial parameters, which are estimated based on the DSC, and the high-order derivatives in DSC are solved by using a rst-order lter. The adaptation laws of inertial parameters are designed directly to improve the tracking performance according to the Lyapunov stability analysis. Simulation results of a two-link FJ robot show better tracking accuracy against model parametric uncertainties. The used method does not need the aid of Neural Network (NN); it is simpler and calculates faster than the other adaptive methods.
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