Adaptive H2/H∞ tracking control for a class of uncertain robotic systems

DOI10.1080/00207179.2016.1183825zbMath1359.93312OpenAlexW2346539658MaRDI QIDQ2978071

Chang, Yeong-Chan

Publication date: 21 April 2017

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207179.2016.1183825

zbMATH Keywords

robotic systemhybrid adaptive/robust controllermixed \(H_{2}/H_\infty\) controlperiodic-disturbances

Mathematics Subject Classification ID

Control/observation systems with incomplete information (93C41) Adaptive control/observation systems (93C40) (H^infty)-control (93B36) Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by ordinary differential equations (93C15)

Related Items

Sliding mode control with extended state observer for a class of nonlinear uncertain systems ⋮ Fractional-order adaptive backstepping control of a class of uncertain systems with external disturbances

Cites Work

• Asymptotic optimal control of uncertain nonlinear Euler-Lagrange systems
• A mixed \(H_{2}/H_{\infty}\) adaptive tracking control for constrained non-holonomic systems.
• A generalised PID-type control scheme with simple tuning for the global regulation of robot manipulators with constrained inputs
• H₂/H_∞control for stochastic systems with delay
• Modelling and adaptive tracking control for flexible joint robots with random noises
• A Nash game approach to mixed H/sub 2//H/sub ∞/ control
• Nonlinear mixedH₂/H_∞control for robust tracking design of robotic systems
• Biased Sinusoidal Disturbance Compensation With Unknown Frequency
• Quadratic optimization of motion coordination and control

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