Title :
Robust control of robot manipulators using hybrid H∞/adaptive controller
Author :
Tam, H.H. ; Hung, Y.S. ; Tso, S.K.
Author_Institution :
Dept. of Electr. & Electron. Eng., Hong Kong Univ., Hong Kong
Abstract :
A robust hybrid control method for robot manipulators is proposed which integrates an H∞ controller and an adaptive controller. The H∞ controller is used to minimize the effect of parameter uncertainties of the robot model on the tracking performance, while the adaptive controller continuously adjusts the model parameters to reduce the model error. Simulations show that disturbances generated from the model error will be quickly compensated and so small tracking errors can be achieved.
Keywords :
H∞ control; adaptive control; control system synthesis; error compensation; model reference adaptive control systems; robots; robust control; tracking; H∞ controller; adaptive controller; error compensation; manipulators; model error; parameter uncertainties; robot; robust control; tracking errors; Adaptive control; Computational modeling; Error correction; Manipulators; Programmable control; Robot control; Robust control; Sliding mode control; Torque control; Uncertain systems;
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Print_ISBN :
0-7803-1933-8
DOI :
10.1109/IROS.1994.407495
