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

被引：33
|
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 | 1999年 / 44卷 / 03期
关键词：
disturbance attenuation; robot manipulators; robust adaptive control; time-varying parameters;
D O I：
10.1109/9.751370
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We consider the tracking problem for rebut 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.
引用
收藏
页码：654 / 658
页数：5
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