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
相关论文
共 50 条
  • [41] Robust adaptive control of robots by stochastic optimization methods
    Marti, K
    [J]. IDENTIFICATION, CONTROL AND OPTIMISATION OF ENGINEERING STRUCTURES, 2000, : 15 - 28
  • [42] Robust adaptive force motion control of constrained robots
    Kwan, CM
    [J]. IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS, 1996, 143 (01): : 103 - 109
  • [43] Cognitive Architecture for Robust Adaptive Control of Robots in a Team
    Arvin Agah
    George A. Bekey
    [J]. Journal of Intelligent and Robotic Systems, 1997, 20 : 251 - 273
  • [44] Robust model free adaptive control with measurement disturbance
    Bu, X.
    Hou, Z.
    Yu, F.
    Wang, F.
    [J]. IET CONTROL THEORY AND APPLICATIONS, 2012, 6 (09): : 1288 - 1296
  • [45] Robust model reference adaptive control with disturbance rejection
    Fuentes, RJ
    Balas, MJ
    [J]. PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2002, 1-6 : 4003 - 4008
  • [46] ADAPTIVE ROBUST CONTROL FOR HYDRAULIC ACTUATORS WITH DISTURBANCE ESTIMATION
    Xu, Z. B.
    Yao, J. Y.
    Dong, Z. L.
    Zheng, Y.
    [J]. PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, 2015, VOL 4B, 2016,
  • [47] Robust Adaptive Control for Unmanned Helicopter with Stochastic Disturbance
    Li, Rong
    Wu, Qingxian
    Chen, Mou
    [J]. 2016 IEEE INTERNATIONAL SYMPOSIUM ON ROBOTICS AND INTELLIGENT SENSORS (IRIS 2016), 2017, 105 : 209 - 214
  • [48] Disturbance observer based robust control for industrial robots with flexible joints
    Park, Sang-Kyun
    Lee, Sang-Hun
    [J]. 2007 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-6, 2007, : 2863 - 2868
  • [49] Robust Disturbance Attenuation in Hamiltonian Systems Via Direct Digital Control
    Yalcin, Yaprak
    Goren-Sumer, Leyla
    Kurtulan, Salman
    [J]. ASIAN JOURNAL OF CONTROL, 2016, 18 (01) : 273 - 282
  • [50] High Gain Disturbance Observer and Its Application in Robust Control Attenuation
    Jiang, Ziya
    He, Yuqing
    Han, Jianda
    [J]. 2013 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION (ICIA), 2013, : 230 - 235
12345