Adaptive disturbance attenuation with global stability for rigid and elastic joint robots (Q1354864)
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scientific article; zbMATH DE number 1008764
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Adaptive disturbance attenuation with global stability for rigid and elastic joint robots |
scientific article; zbMATH DE number 1008764 |
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Adaptive disturbance attenuation with global stability for rigid and elastic joint robots (English)
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12 June 2001
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The main results of the paper are formulated in two theorems, stating the solvability of the disturbance attenuation problem with global tracking for rigid and elastic joint robots via full-state dynamic feedback. Here, the robot constant parameters are not assumed to be known, but the property of linearity in the parameters is used. Simulation results are presented for a two-link rigid robot.
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robot control
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adaptive control
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disturbance attenuation
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stability
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tracking
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dynamic feedback
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