Title :
A robust adaptive control method for manipulators subject to random disturbances
Author_Institution :
High Performance Comput. Res. Center, Fujitsu Labs. Ltd., Kawasaki, Japan
Abstract :
A robust adaptive control method for manipulators is presented, where the physical parameters of manipulators are unknown and the effects of random disturbances are taken into account. The control input is organized by the parts of the adaptive PD input with a parameter update law and the linear feedback input to compensate the errors of parameter estimation and the effects of random disturbances
Keywords :
H∞ control; Lyapunov methods; adaptive control; feedback; manipulator dynamics; nonlinear systems; parameter estimation; robust control; stochastic systems; two-term control; H∞ control; H2 control; Lyapunov function; adaptive control; dynamics; linear feedback; manipulators; nonlinear stochastic systems; parameter estimation; random disturbances; robust control; Adaptive control; Error correction; Force control; Force feedback; Linear feedback control systems; Manipulator dynamics; Robot sensing systems; Robust control; Stochastic systems; Torque control;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.653272
