Title :
Adaptive robust control with optimal servo mechanism for uncertain nonlinear systems
Author :
Izumi, Kiyotaka ; Watanabe, Keigo
Author_Institution :
Dept. of Mech. Eng., Saga Univ., Japan
Abstract :
It is well known that a servo system is necessary for tracking a model. If a servo controller is not used, then a steady-state error will appear in the response. In this paper, we propose a simplified adaptive nonlinear robust controller (SANROC) with the optimal servo mechanism to exclude the steady-state error due to a constant disturbance. The effectiveness of the proposed method is illustrated by an actual experiment for a two-link robot manipulator
Keywords :
adaptive control; manipulators; nonlinear control systems; optimal control; robust control; servomechanisms; uncertain systems; constant disturbance; optimal servo mechanism; simplified adaptive nonlinear robust controller; steady-state error; two-link robot manipulator; uncertain nonlinear systems; Adaptive control; Control systems; Error correction; Nonlinear systems; Programmable control; Robust control; Servomechanisms; Steady-state; Uncertainty; Upper bound;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.574340
