Title :
Robust adaptive friction compensation for tracking control of robots
Author_Institution :
Dipartimento di Ingegneria Elettronica, Rome Univ., Italy
Abstract :
The tracking problem is considered for robot manipulators with unknown parameters and dynamic friction, in the presence of bounded disturbances and/or modeling uncertainties. We design a robust adaptive control algorithm which guarantees arbitrary disturbance attenuation. If the disturbances belong to L2, asymptotic tracking is also achieved
Keywords :
adaptive control; compensation; control system synthesis; friction; manipulators; robust control; tracking; uncertain systems; L2; arbitrary disturbance attenuation; asymptotic tracking; bounded disturbances; dynamic friction; modeling uncertainties; robot manipulators; robust adaptive control design; robust adaptive friction compensation; tracking control; unknown parameters; Adaptive control; Attenuation; Force control; Force measurement; Friction; Manipulator dynamics; Programmable control; Robot control; Robust control; Uncertainty;
Conference_Titel :
Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on
Conference_Location :
Kohala Coast, HI
Print_ISBN :
0-7803-5446-X
DOI :
10.1109/CCA.1999.807854
