Title :
Adaptive disturbance attenuation for elastic joint robots
Author :
Battilotti, S. ; Lanari, L.
Author_Institution :
Dipartimento di Inf. e Sistemistica, Rome Univ., Italy
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 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
Keywords :
adaptive control; flexible structures; manipulators; stability; H∞ control; adaptive control; adaptive disturbance attenuation; elastic joint robots; global internal stability; unknown constant parameters; Adaptive control; Attenuation; Bridges; Elasticity; Linearity; Programmable control; Robot control; Robust control; Stability; Tellurium;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.478546
