We consider the tracking problem for robot manipulators with unknown and (possibly) time-varying parameters, which are subject to bounded disturbances. We provide a state feedback adaptive control algorithm which guarantees arbitrary transient performance as well as arbitrary disturbance attenuation. If the disturbances vanish and the parameters remain constant, the proposed controller achieves asymptotic tracking.

Tomei, P. (1999). Robust adaptive control of robots with arbitrary transient performance and disturbance attenuation. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 44(3), 654-658.

Robust adaptive control of robots with arbitrary transient performance and disturbance attenuation

TOMEI, PATRIZIO
1999-01-01

Abstract

We consider the tracking problem for robot manipulators with unknown and (possibly) time-varying parameters, which are subject to bounded disturbances. We provide a state feedback adaptive control algorithm which guarantees arbitrary transient performance as well as arbitrary disturbance attenuation. If the disturbances vanish and the parameters remain constant, the proposed controller achieves asymptotic tracking.
1999
Pubblicato
Rilevanza internazionale
Articolo
Sì, ma tipo non specificato
Settore ING-INF/04 - AUTOMATICA
English
Con Impact Factor ISI
Disturbance attenuation; Robot manipulators; Robust adaptive control; Time-varying parameters
Tomei, P. (1999). Robust adaptive control of robots with arbitrary transient performance and disturbance attenuation. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 44(3), 654-658.
Tomei, P
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/51691
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