The tracking problem is considered for robots having flexible joints. We propose a state feedback control algorithm which guarantees arbitrary attenuation on the outputs of the effects of time-varying disturbances as well as of parameter uncertainties. Only a lower bound on the values of the elastic constants is required to be known.

Tomei, P. (1995). Nonlinear H-infinity disturbance attenuation for robots with flexible joints. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 5(4), 365-373 [10.1002/rnc.4590050411].

Nonlinear H-infinity disturbance attenuation for robots with flexible joints

TOMEI, PATRIZIO
1995-01-01

Abstract

The tracking problem is considered for robots having flexible joints. We propose a state feedback control algorithm which guarantees arbitrary attenuation on the outputs of the effects of time-varying disturbances as well as of parameter uncertainties. Only a lower bound on the values of the elastic constants is required to be known.
Pubblicato
Rilevanza internazionale
Articolo
Sì, ma tipo non specificato
Settore ING-INF/04 - Automatica
English
Con Impact Factor ISI
Algorithms; Feedback control; Multivariable systems; Nonlinear systems; Parameter estimation; Problem solving; Time varying control systems; Disturbance attenuation; Flexible joint robots; Parameter uncertainties; Robots
Tomei, P. (1995). Nonlinear H-infinity disturbance attenuation for robots with flexible joints. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 5(4), 365-373 [10.1002/rnc.4590050411].
Tomei, P
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/45958
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