• DocumentCode
    1695502
  • Title

    Robust adaptive tracking control with L2-gain disturbance attenuation for electrically-driven robot manipulators

  • Author

    Ishii, Chiharu ; Shen, Tielong ; Qu, Zhihua

  • Author_Institution
    Ashikaga Inst. of Technol., Japan
  • Volume
    4
  • fYear
    1999
  • fDate
    6/21/1905 12:00:00 AM
  • Firstpage
    3388
  • Abstract
    This paper develops a new Lyapunov recursive design for the robust adaptive tracking control problem of rigid-link electrically-driven robot manipulators with uncertainty. The novelty is in the strategy to construct such a Lyapunov function recursively that ensures not only stability of a tracking error system but also an L2-gain constraint for the tracking performance
  • Keywords
    Lyapunov methods; adaptive control; control system synthesis; electric control equipment; manipulators; robust control; tracking; uncertain systems; L2-gain constraint; L2-gain disturbance attenuation; Lyapunov function recursive construction; electrically-driven robot manipulators; rigid-link electrically-driven robot manipulators; robust adaptive tracking control; tracking error stability; tracking performance; uncertainty; Actuators; Adaptive control; Attenuation; Load management; Programmable control; Robust control; Stability; Torque control; Trajectory; Voltage control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
  • Conference_Location
    Phoenix, AZ
  • ISSN
    0191-2216
  • Print_ISBN
    0-7803-5250-5
  • Type

    conf

  • DOI
    10.1109/CDC.1999.827797
  • Filename
    827797
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1695502