Adaptive disturbance attenuation with global stability for rigid and elastic joint robots
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.
scientific article; zbMATH DE number 1008764
scientific article