The tracking problem is considered for robot manipulators with unknown parameters and dynamic friction, in the presence of bounded disturbances and/or modeling uncertainties. The authors design a robust adaptive control algorithm which guarantees arbitrary disturbance attenuation. If the disturbances belong to L2, asymptotic tracking is also achieved.
Tomei, P. (2000). Robust adaptive friction compensation for tracking control of robot manipulators. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 45(11), 2164-2169 [10.1109/9.887661].
Robust adaptive friction compensation for tracking control of robot manipulators
TOMEI, PATRIZIO
2000-01-01
Abstract
The tracking problem is considered for robot manipulators with unknown parameters and dynamic friction, in the presence of bounded disturbances and/or modeling uncertainties. The authors design a robust adaptive control algorithm which guarantees arbitrary disturbance attenuation. If the disturbances belong to L2, asymptotic tracking is also achieved.File in questo prodotto:
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