• DocumentCode
    297045
  • Title

    Tracking with disturbance attenuation for rigid robots

  • Author

    Battilotti, S. ; Lanari, L.

  • Author_Institution
    Dipartimento di Inf. e Sistemistica, Rome Univ., Italy
  • Volume
    2
  • fYear
    1996
  • fDate
    22-28 Apr 1996
  • Firstpage
    1578
  • Abstract
    In this paper a tracking controller for rigid robots is presented solving a disturbance attenuation problem with global internal stability in the general case of unknown constant parameters. By using the well-known property of linearity in the parameters for the rigid robot dynamic equations, adaptive and H∞ control are combined successfully. Simulation results show a good behavior of the proposed tracking controller
  • Keywords
    H∞ control; adaptive control; manipulator dynamics; stability; tracking; H∞ control; adaptive control; disturbance attenuation; global internal stability; linearity; rigid robot dynamic equations; tracking controller; Adaptive control; Attenuation; Equations; Linearity; Programmable control; Robot control; Robot kinematics; Stability; Trajectory; Uncertainty;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
  • Conference_Location
    Minneapolis, MN
  • ISSN
    1050-4729
  • Print_ISBN
    0-7803-2988-0
  • Type

    conf

  • DOI
    10.1109/ROBOT.1996.506937
  • Filename
    506937
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=297045