Robust adaptive friction compensation for tracking control of robot manipulators

被引：80
|
作者：
Tomei, P [1 ]
机构：
[1] Univ Roma Tor Vergata, Dipartimento Ingn Elettron, I-00133 Rome, Italy
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2000年 / 45卷 / 11期
关键词：
disturbance attenuation; dynamic friction; robotic manipulators; robust adaptive control;
D O I：
10.1109/9.887661
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The tracking problem is considered for robot manipulators with unknown parameters and dynamic friction, in the presence of bounded disturbances and/or modeling uncertainties. The authors design a robust adaptive control algorithm which guarantees arbitrary disturbance attenuation. If the disturbances belong to L-2, asymptotic tracking is also achieved.
引用
收藏
页码：2164 / 2169
页数：6
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