๐”– Bobbio Scriptorium
โœฆ   LIBER   โœฆ

Tracking control with disturbance attenuation for robot manipulators

โœ Scribed by S. Nicosia; P. Tomei

Publisher
John Wiley and Sons
Year
1996
Tongue
English
Weight
304 KB
Volume
10
Category
Article
ISSN
0890-6327

No coin nor oath required. For personal study only.

โœฆ Synopsis

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.

๐Ÿ“œ SIMILAR VOLUMES

Flexible backstepping design for trackin
Flexible backstepping design for tracking and disturbance attenuation
โœ Jiaxiang Zhao; Ioannis Kanellakopoulos ๐Ÿ“‚ Article ๐Ÿ“… 1998 ๐Ÿ› John Wiley and Sons ๐ŸŒ English โš– 331 KB ๐Ÿ‘ 1 views

In this paper we consider the benchmark nonlinear control problem and use backstepping to design several active controllers for tracking and disturbance attenuation; these two problems are much more challenging than stabilization. We show that the significant flexibility of backstepping can be explo

Robust tracking and regulation control f
Robust tracking and regulation control for mobile robots
โœ W. E. Dixon; D. M. Dawson; E. Zergeroglu; F. Zhang ๐Ÿ“‚ Article ๐Ÿ“… 2000 ๐Ÿ› John Wiley and Sons ๐ŸŒ English โš– 162 KB ๐Ÿ‘ 1 views

This paper presents the design of a new, di!erentiable kinematic control law that utilizes a damped dynamic oscillator with a tunable frequency of oscillation to achieve global uniformly ultimately bounded tracking (i.e., the position/orientation tracking errors globally exponentially converge to a