Adaptive control in robotic systems with \(H^\infty\) tracking performance

DOI10.1016/S0005-1098(96)00147-1zbMath0960.93041OpenAlexW2073070812MaRDI QIDQ1354862

Bor-Sen Chen, Ti-Chung Lee, Chang, Yeong-Chan

Publication date: 12 May 1997

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0005-1098(96)00147-1

zbMATH Keywords

\(H^\infty\) performanceadaptive \(H^\infty\) controladaptive model reference trackingindustrial manipulatorsrigid robotic systems

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) (H^infty)-control (93B36) Automated systems (robots, etc.) in control theory (93C85)

Related Items (6)

An optimal adaptive H-infinity tracking control design via wavelet network ⋮ Nonlinear \(\mathcal H_{\infty}\)-control of nonsmooth time-varying systems with application to friction mechanical manipulators ⋮ Non-smooth -position control of mechanical manipulators with frictional joints ⋮ Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators ⋮ Adaptive neural network tracking control for manipulators with uncertain kinematics, dynamics and actuator model ⋮ Trajectory tracking control of Euler-Lagrange systems with ISS-like robustness to actuator noises

Cites Work

• Adaptive motion control of rigid robots: A tutorial
• Composite adaptive control of robot manipulators
• A parameter estimation perspective of continuous time model reference adaptive control
• The internal model principle for linear multivariable regulators
• A robust adaptive nonlinear control design
• Variable structure control of robot manipulators with nonlinear sliding manifolds
• State-space solutions to standard H/sub 2/ and H/sub infinity / control problems
• Output regulation of nonlinear systems
• L/sub 2/-gain analysis of nonlinear systems and nonlinear state-feedback H/sub infinity / control
• A nonlinear H_∞ control design in robotic systems under parameter perturbation and external disturbance
• Hybrid adaptive‐robust control for a robot manipulator
• H/sup infinity / control for nonlinear systems with output feedback
• Quadratic optimization of motion coordination and control

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