• DocumentCode
    1483259
  • Title

    Robust adaptive control of robots with arbitrary transient performance and disturbance attenuation

  • Author

    Tomei, Patrizio

  • Author_Institution
    Dipt. di Ingegneria Elettronica, Rome Univ., Italy
  • Volume
    44
  • Issue
    3
  • fYear
    1999
  • fDate
    3/1/1999 12:00:00 AM
  • Firstpage
    654
  • Lastpage
    658
  • Abstract
    We consider the tracking problem for robot manipulators with unknown and (possibly) time-varying parameters, which are subject to bounded disturbances. We provide a state feedback adaptive control algorithm which guarantees arbitrary transient performance as well as arbitrary disturbance attenuation. If the disturbances vanish and the parameters remain constant, the proposed controller achieves asymptotic tracking
  • Keywords
    adaptive control; manipulator dynamics; robust control; state feedback; time-varying systems; tracking; arbitrary disturbance attenuation; arbitrary transient performance; asymptotic tracking; bounded disturbances; robot manipulators; robust adaptive control; tracking problem; Actuators; Adaptive control; Attenuation; Equations; Error correction; Manipulator dynamics; Programmable control; Robot control; Robust control; State feedback;
  • fLanguage
    English
  • Journal_Title
    Automatic Control, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9286
  • Type

    jour

  • DOI
    10.1109/9.751370
  • Filename
    751370
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1483259