The disturbance attenuation problem with global internal stability is solved for elastic joint robots in the general case of unknown constant parameters. By using recent results on the adaptive control of elastic joint robots, one can solve the problem of disturbance attenuation directly on the perturbed system by exploiting the property of linearity in the parameters. This paper therefore combines adaptive control techniques with H∞ ones.
Adaptive disturbance attenuation for elastic joint robots / Battilotti, Stefano; Lanari, Leonardo. - STAMPA. - 3:(1995), pp. 2823-2828. (Intervento presentato al convegno 34th IEEE Conference on Decision and Control tenutosi a NEW ORLEANS, LA (USA) nel 13 December 1995 through 15 December 1995) [10.1109/CDC.1995.478546].
Adaptive disturbance attenuation for elastic joint robots
BATTILOTTI, Stefano
;LANARI, Leonardo
1995
Abstract
The disturbance attenuation problem with global internal stability is solved for elastic joint robots in the general case of unknown constant parameters. By using recent results on the adaptive control of elastic joint robots, one can solve the problem of disturbance attenuation directly on the perturbed system by exploiting the property of linearity in the parameters. This paper therefore combines adaptive control techniques with H∞ ones.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
