Title :
Robust adaptive friction compensation for tracking control of robot manipulators
Author_Institution :
Dipartimento di Ingegneria Elettronica, Rome Univ., Italy
fDate :
11/1/2000 12:00:00 AM
Abstract :
The tracking problem is considered for robot manipulators with unknown parameters and dynamic friction, in the presence of bounded disturbances and/or modeling uncertainties. The authors design a robust adaptive control algorithm which guarantees arbitrary disturbance attenuation. If the disturbances belong to L2, asymptotic tracking is also achieved.
Keywords :
adaptive control; asymptotic stability; compensation; friction; manipulator dynamics; robust control; tracking; adaptive control; asymptotic stability; compensation; disturbance attenuation; dynamic friction; robot manipulators; robust control; tracking; Adaptive control; Automatic control; Friction; Manipulators; Milling machines; Orbital robotics; Programmable control; Robot control; Robotics and automation; Robust control;
Journal_Title :
Automatic Control, IEEE Transactions on
