The disturbance attenuation problem with global internal stability is solved for both rigid and elastic joint robots in the presence of unknown constant parameters. The proposed dynamic controller combines adaptive and H∞ control techniques.
Adaptive disturbance attenuation with global stability for rigid and alastic joint robots / Battilotti, Stefano; Lanari, Leonardo. - In: AUTOMATICA. - ISSN 0005-1098. - STAMPA. - 33:2(1997), pp. 239-245. [10.1016/S0005-1098(96)00144-6]
Adaptive disturbance attenuation with global stability for rigid and alastic joint robots
BATTILOTTI, Stefano
;LANARI, Leonardo
1997
Abstract
The disturbance attenuation problem with global internal stability is solved for both rigid and elastic joint robots in the presence of unknown constant parameters. The proposed dynamic controller combines adaptive and H∞ control techniques.File allegati a questo prodotto
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