In this paper a tracking controller for rigid robots is presented solving a disturbance attenuation problem with global internal stability in the general case of unknown constant parameters. By using the well-known property of linearity in the parameters for the rigid robot dynamic equations, adaptive and H∞ control are combined successfully. Simulation results show a good behavior of the proposed tracking controller
Tracking with disturbance attenuation for rigid robots / Battilotti, Stefano; Lanari, Leonardo. - STAMPA. - 2:(1996), pp. 1578-1583. (Intervento presentato al convegno 1996 IEEE lntemational Conference on Robotics and Automation tenutosi a Minneapolis, Minnesota (USA)) [10.1109/ROBOT.1996.506937].
Tracking with disturbance attenuation for rigid robots
BATTILOTTI, Stefano
;LANARI, Leonardo
1996
Abstract
In this paper a tracking controller for rigid robots is presented solving a disturbance attenuation problem with global internal stability in the general case of unknown constant parameters. By using the well-known property of linearity in the parameters for the rigid robot dynamic equations, adaptive and H∞ control are combined successfully. Simulation results show a good behavior of the proposed tracking controllerI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
