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Nonlinear H∞ disturbance attenuation for robots with flexible joints

✍ Scribed by Patrizio Tomei

Book ID
112186343
Publisher
John Wiley and Sons
Year
1995
Tongue
English
Weight
388 KB
Volume
5
Category
Article
ISSN
1049-8923

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Tracking control with disturbance attenu
Tracking control with disturbance attenuation for robot manipulators
✍ S. Nicosia; P. Tomei 📂 Article 📅 1996 🏛 John Wiley and Sons 🌐 English ⚖ 304 KB 👁 2 views

The tracking problem is considered for robot manipulators. We propose a state feedback control algorithm which guarantees arbitrary attenuation on the outputs (the joint positions) of the effects of unknown timevarying disturbances as well as of parameter uncertainties.