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.File in questo prodotto:
Non ci sono file associati a questo prodotto.
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
