• DocumentCode
    294304
  • Title

    Adaptive disturbance attenuation for elastic joint robots

  • Author

    Battilotti, S. ; Lanari, L.

  • Author_Institution
    Dipartimento di Inf. e Sistemistica, Rome Univ., Italy
  • Volume
    3
  • fYear
    1995
  • fDate
    13-15 Dec 1995
  • Firstpage
    2823
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
  • Conference_Location
    New Orleans, LA
  • ISSN
    0191-2216
  • Print_ISBN
    0-7803-2685-7
  • Type

    conf

  • DOI
    10.1109/CDC.1995.478546
  • Filename
    478546
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=294304