Title :
Robust adaptive control of robots with arbitrary transient performance and disturbance attenuation
Author_Institution :
Dipt. di Ingegneria Elettronica, Rome Univ., Italy
fDate :
3/1/1999 12:00:00 AM
Abstract :
We consider the tracking problem for robot 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
Keywords :
adaptive control; manipulator dynamics; robust control; state feedback; time-varying systems; tracking; arbitrary disturbance attenuation; arbitrary transient performance; asymptotic tracking; bounded disturbances; robot manipulators; robust adaptive control; tracking problem; Actuators; Adaptive control; Attenuation; Equations; Error correction; Manipulator dynamics; Programmable control; Robot control; Robust control; State feedback;
Journal_Title :
Automatic Control, IEEE Transactions on
