DocumentCode
320329
Title
A robust adaptive control method for manipulators subject to random disturbances
Author
Kaneko, Junji
Author_Institution
High Performance Comput. Res. Center, Fujitsu Labs. Ltd., Kawasaki, Japan
Volume
1
fYear
1997
fDate
10-12 Dec 1997
Firstpage
817
Abstract
A robust adaptive control method for manipulators is presented, where the physical parameters of manipulators are unknown and the effects of random disturbances are taken into account. The control input is organized by the parts of the adaptive PD input with a parameter update law and the linear feedback input to compensate the errors of parameter estimation and the effects of random disturbances
Keywords
H∞ control; Lyapunov methods; adaptive control; feedback; manipulator dynamics; nonlinear systems; parameter estimation; robust control; stochastic systems; two-term control; H∞ control; H2 control; Lyapunov function; adaptive control; dynamics; linear feedback; manipulators; nonlinear stochastic systems; parameter estimation; random disturbances; robust control; Adaptive control; Error correction; Force control; Force feedback; Linear feedback control systems; Manipulator dynamics; Robot sensing systems; Robust control; Stochastic systems; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location
San Diego, CA
ISSN
0191-2216
Print_ISBN
0-7803-4187-2
Type
conf
DOI
10.1109/CDC.1997.653272
Filename
653272
Link To Document