Adaptive disturbance attenuation with global stability for rigid and elastic joint robots
type: Item
instance of: scholarly article
title: Adaptive disturbance attenuation with global stability for rigid and elastic joint robots
zbMATH Open document ID: 0963.93063
DOI: 10.1016/S0005-1098(96)00144-6
author: Leonardo Lanari
author: Stefano Battilotti
published in: Automatica
publication date: 2001-06-12T00:00:00Z
review text: 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.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93D21
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 93C73
Mathematics Subject Classification ID: 70B15
zbMATH DE Number: 1008764
zbMATH Keywords: robot control
zbMATH Keywords: adaptive control
zbMATH Keywords: disturbance attenuation
zbMATH Keywords: stability
zbMATH Keywords: tracking
zbMATH Keywords: dynamic feedback
MaRDI profile type: Publication
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full work available at URL: s0005-1098(96)00144-6
OpenAlex ID: W1987683700
description: scientific article; zbMATH DE number 1008764