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.File in questo prodotto:
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