MANIPULATION
Tracking control with disturbance attenuation for robot manipulators
S. Nicosia, P. Tomei
- Year
- 1996
- Citations
- 5
Abstract
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 time-varying disturbances as well as of parameter uncertainties.
Keywords
Control theory (sociology)AttenuationTracking (education)Disturbance (geology)RobotControl (management)Computer scienceControl engineeringRobot manipulatorEngineering
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