The tracking problem is considered for robot manipulators with unknown parameters and dynamic friction, in the presence of bounded disturbances and/or modeling uncertainties. We design a robust adaptive control algorithm which guarantees arbitrary disturbance attenuation. If the disturbances belong to L2, asymptotic tracking is also achieved.

Tomei, P. (1999). Robust adaptive friction compensation for tracking control of robots. In IEEE Conference on Control Applications - Proceedings (pp.875-880). IEEE, Piscataway, NJ, United States.

Robust adaptive friction compensation for tracking control of robots

TOMEI, PATRIZIO
1999

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. We design a robust adaptive control algorithm which guarantees arbitrary disturbance attenuation. If the disturbances belong to L2, asymptotic tracking is also achieved.
Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD)
Kohala Coast, HI, USA
22 August 1999 through 27 August 1999
IEEE CSS
Rilevanza internazionale
contributo
Settore ING-INF/04 - Automatica
English
Adaptive algorithms; Asymptotic stability; Control system analysis; Control system synthesis; Friction; Manipulators; Mathematical models; Robotics; Robustness (control systems); Uncertain systems; Arbitrary disturbance attenuations; Robust adaptive friction compensations; Tracking control; Adaptive control systems
Intervento a convegno
Tomei, P. (1999). Robust adaptive friction compensation for tracking control of robots. In IEEE Conference on Control Applications - Proceedings (pp.875-880). IEEE, Piscataway, NJ, United States.
Tomei, P
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/2108/51700
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