Adaptive disturbance attenuation with global stability for rigid and elastic joint robots

被引：17

作者：

Battilotti, S ^{[1
]}

Lanari, L ^{[1
]}

机构：

[1] UNIV ROMA LA SAPIENZA, DIPARTIMENTO INFORMAT & SISTEMIST, I-00184 ROME, ITALY

来源：

AUTOMATICA | 1997年 / 33卷 / 02期

关键词：

robot control; adaptive control; H-infinity control; stability;

D O I：

10.1016/S0005-1098(96)00144-6

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The disturbance attenuation problem with global internal stability is solved for both rigid and elastic joint robots in the presence of unknown constant parameters. The proposed dynamic controller combines adaptive and H-infinity control techniques. (C) 1997 Elsevier Science Ltd.

引用

页码：239 / 243

页数：5

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