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.
2000
Pubblicato
Rilevanza internazionale
Articolo
Sì, ma tipo non specificato
Settore ING-INF/04 - AUTOMATICA
English
Con Impact Factor ISI
Adaptive control systems; Algorithms; Asymptotic stability; Control system synthesis; Manipulators; Mathematical models; Parameter estimation; Robustness (control systems); Tribology; Uncertain systems; Disturbance attenuation; Dynamic friction; Friction compensation; Position control
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].
Tomei, P
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/51698
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