Title :
Tracking with disturbance attenuation for rigid robots
Author :
Battilotti, S. ; Lanari, L.
Author_Institution :
Dipartimento di Inf. e Sistemistica, Rome Univ., Italy
Abstract :
In this paper a tracking controller for rigid robots is presented solving a disturbance attenuation problem with global internal stability in the general case of unknown constant parameters. By using the well-known property of linearity in the parameters for the rigid robot dynamic equations, adaptive and H∞ control are combined successfully. Simulation results show a good behavior of the proposed tracking controller
Keywords :
H∞ control; adaptive control; manipulator dynamics; stability; tracking; H∞ control; adaptive control; disturbance attenuation; global internal stability; linearity; rigid robot dynamic equations; tracking controller; Adaptive control; Attenuation; Equations; Linearity; Programmable control; Robot control; Robot kinematics; Stability; Trajectory; Uncertainty;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506937
