Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models

被引：31

作者：

Ailon, A

机构：

[1] Dept. of Elec. and Comp. Engineering, Ben Gurion University of the Negev

来源：

AUTOMATICA | 1996年 / 32卷 / 10期

关键词：

uncertain robots; output controllers; set-point control; global contraction mapping;

D O I：

10.1016/0005-1098(96)00087-8

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper considers the set-point regulation problem of a flexible-joint robot with unknown parameters where only position measurements are available. The proposed iterative schemes guarantee that every system response converges to an arbitrarily small neighborhood of the equilibrium point, An essential tool in the present approach is the contraction mapping theorem. Copyright (C) 1996 Elsevier Science Ltd.

引用

页码：1455 / 1461

页数：7

共 11 条

[1] AN OBSERVER-BASED SET-POINT CONTROLLER FOR ROBOT MANIPULATORS WITH FLEXIBLE JOINTS [J].