Tracking with disturbance attenuation for rigid robots

摘要

In this paper a tracking controller for rigid robots is presented solving a disturbance attenuation problem with global internal stability in the general case of unknown constant parameters. By using the well-known property of linearity in the parameters for the rigid robot dynamic equations, adaptive and H/sub /spl infin// control are combined successfully. Simulation results show a good behavior of the proposed tracking controller.