TRACKING CONTROL WITH DISTURBANCE ATTENUATION FOR ROBOT MANIPULATORS

Authors
NICOSIA S TOMEI P
Citation
S. Nicosia et P. Tomei, TRACKING CONTROL WITH DISTURBANCE ATTENUATION FOR ROBOT MANIPULATORS, International journal of adaptive control and signal processing, 10(4-5), 1996, pp. 443-449
Citations number
8
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
Journal title
International journal of adaptive control and signal processing → ACNP
ISSN journal
08906327
Volume
10
Issue
4-5
Year of publication
1996
Pages
443 - 449
Database
ISI
SICI code
0890-6327(1996)10:4-5<443:TCWDAF>2.0.ZU;2-K
Abstract
The tracking problem is considered for robot manipulators. We propose a state feedback control algorithm which guarantees arbitrary attenuat ion on the outputs (the joint positions) of the effects of unknown tim e-varying disturbances as well as of parameter uncertainties.