MANIPULATION
Robust adaptive friction compensation for tracking control of robot manipulators
P. Tomei
- Year
- 2000
- Citations
- 100
Abstract
The tracking problem is considered for robot manipulators with unknown parameters and dynamic friction, in the presence of bounded disturbances and/or modeling uncertainties. The authors design a robust adaptive control algorithm which guarantees arbitrary disturbance attenuation. If the disturbances belong to L/sub 2/, asymptotic tracking is also achieved.
Keywords
Control theory (sociology)Adaptive controlBounded functionCompensation (psychology)Tracking (education)Robust controlRobot manipulatorRobotAttenuationComputer science
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