Adaptive disturbance attenuation with global stability for rigid and elastic joint robots
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Publication:1354864
DOI10.1016/S0005-1098(96)00144-6zbMath0963.93063OpenAlexW1987683700MaRDI QIDQ1354864
Leonardo Lanari, Stefano Battilotti
Publication date: 12 June 2001
Published in: Automatica (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1016/s0005-1098(96)00144-6
Adaptive control/observation systems (93C40) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21) Kinematics of mechanisms and robots (70B15)
Related Items (5)
On nonlinear control of Euler-Lagrange systems: Disturbance attenuation properties ⋮ Adaptive robust quadratic stabilization tracking control for robotic system with uncertainties and external disturbances ⋮ Stabilization and disturbance attenuation of nonlinear systems using dissipativity theory ⋮ Adaptive disturbance attenuation for a class of uncertain nonlinear systems: a double-gain nonlinear observer method ⋮ Trajectory tracking control of Euler-Lagrange systems with ISS-like robustness to actuator noises
Cites Work
- Adaptive linear controller for robotic manipulators
- New class of control laws for robotic manipulators Part 2. Adaptive case
- Modeling and Control of Elastic Joint Robots
- Adaptive manipulator control: A case study
- Adaptive control of robot manipulators with flexible joints
- L/sub 2/-gain analysis of nonlinear systems and nonlinear state-feedback H/sub infinity / control
- Disturbance attenuation and H/sub infinity /-control via measurement feedback in nonlinear systems
- On the robust control of robot manipulators
- A nonlinear H∞ control design in robotic systems under parameter perturbation and external disturbance
- Tracking control of flexible joint robots with uncertain parameters and disturbances
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