Adaptive H8 Tracking Control Design in Robotic Systems with Parameter Perturbation and External Disturbance

Author

Chun-Qing, Huang

Author_Institution

Dept. of Autom., Xiamen Univ., Xiamen

Volume

3

fYear

2008

Firstpage

106

Lastpage

111

Abstract

A novel second-order update law proposed in this paper, whose coefficients are decided by a linear matrix differential equation with the regressors as input, achieves uniform asymptotic stability parameters convergence as well as motion tracking error of robot manipulators, if the persistency of excitation condition is satisfied. This algorithm is simpler for the execution. Based on this adaptive update algorithm, adaptive Hinfin tracking controller is stressed that guarantee gamma-level disturbance attenuation and reduces some potential conservatism of control action in general nonlinear Hinfin design.

Keywords

H^infin control; adaptive control; asymptotic stability; control system synthesis; convergence; differential equations; linear matrix inequalities; manipulators; motion control; nonlinear control systems; perturbation techniques; adaptive Hinfin tracking controller; adaptive update algorithm; asymptotic stability; control design; convergence; disturbance attenuation; linear matrix differential equation; motion tracking error; nonlinear Hinfin design; parameter perturbation; robot manipulator; robotic system; second-order update law; Adaptive control; Asymptotic stability; Control design; Convergence; Differential equations; Error correction; Programmable control; Robots; Stress control; Tracking; H8; adaptive control; robot manipulator; tracking control; uniform asymptotic stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Systems Design and Applications, 2008. ISDA '08. Eighth International Conference on

Conference_Location

Kaohsiung

Print_ISBN

978-0-7695-3382-7

Type

conf

DOI

10.1109/ISDA.2008.30

Filename

4696446