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
fDate :
6/21/1905 12:00:00 AM
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;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.827797
