Adaptive disturbance attenuation with global stability for rigid and elastic joint robots. (English) Zbl 0963.93063
The main results of the paper are formulated in two theorems, stating the solvability of the disturbance attenuation problem with global tracking for rigid and elastic joint robots via full-state dynamic feedback. Here, the robot constant parameters are not assumed to be known, but the property of linearity in the parameters is used. Simulation results are presented for a two-link rigid robot.
Reviewer: Boris Ivanovich Konosevich (Donetsk)
MSC:
| 93C85 | Automated systems (robots, etc.) in control theory |
| 93D21 | Adaptive or robust stabilization |
| 93C40 | Adaptive control/observation systems |
| 93C73 | Perturbations in control/observation systems |
| 70B15 | Kinematics of mechanisms and robots |
Keywords:
robot control; adaptive control; disturbance attenuation; stability; tracking; dynamic feedbackReferences:
| [1] | Astolfi, A.; Lanari, L., Disturbance attenuation and set-point regulation of rigid robots via \(H_∞\) control, (Proc. 33rd IEEE Conf. on Decision and Control. Proc. 33rd IEEE Conf. on Decision and Control, Orlando, FL (1994)), 2578-2583 |
| [2] | Battilotti, S.; Lanari, L., Robust control of rigid robots: an \(H_∞\) approach, (Proc. 34th IEEE Conf. on Decision and Control. Proc. 34th IEEE Conf. on Decision and Control, New Orleans, LA (1995)), 2823-2828 |
| [3] | Battilotti, S.; Lanari, L., Tracking with disturbance attenuation for rigid robots, (1996 IEEE Int. Conf. Robotics and Automation. 1996 IEEE Int. Conf. Robotics and Automation, Minneapolis, MN (1996)), 1578-1583 |
| [4] | Bayard, D. S.; Wen, J. T., New class of control laws for robotic manipulators: Part 2—Adaptive case, Int. J. Control, 47, 5, 1387-1406 (1988) · Zbl 0646.93044 |
| [5] | Chen, B. S.; Lee, T. S.; Feng, J. H., A nonlinear \(H_∞\) control design in robotic systems under parameter perturbation and external disturbance, Int. J. Control, 59, 2, 439-461 (1994) · Zbl 0807.93018 |
| [6] | Dawson, D. M.; Qu, Z.; Bridges, M.; Carrol, J., Robust tracking of rigid-link flexible-joint electrically-driven robots, (Proc. 30th IEEE Conf. on Decision and Control. Proc. 30th IEEE Conf. on Decision and Control, Brighton (1991)), 1409-1412 |
| [7] | Isidori, A.; Astolfi, A., Disturbance attenuation and \(H_∞\) control via measurement feedback in nonlinear systems, IEEE Trans. Automat. Control, AC-37, 1283-1293 (1992) · Zbl 0755.93043 |
| [8] | Lim, S. Y.; Dawson, D. M.; Hu, J.; Queiroz, M., An adaptive link position tracking controller for rigid-link flexible-joint robots without velocity measurement, (Proc. 33rd IEEE Conf. on Decision and Control. Proc. 33rd IEEE Conf. on Decision and Control, Orlando, FL (1994)), 351-356 |
| [9] | Lozano, R.; Brogliato, B., Adaptive control of robot manipulators with flexible joints, IEEE Trans. Automat. Control, AC-37, 2, 174-181 (1992) · Zbl 0766.93038 |
| [10] | Koivo, A. J.; Guo, T., Adaptive linear controller for robotic manipulators, IEEE Trans. Automat. Control, AC-28, 162-171 (1983) · Zbl 0542.93039 |
| [11] | van der Schaft, A. J., \(L_2\)-gain analysis of nonlinear systems and nonlinear state feedback \(H_∞\) control, IEEE Trans. Automat. Control, AC-37, 770-784 (1992) · Zbl 0755.93037 |
| [12] | Slotine, J. J.; Li, W., Adaptive manipulator control: a case study, IEEE Trans Automat. Control, AC-33, 11, 995-1003 (1988) · Zbl 0664.93045 |
| [13] | Spong, M. W., Modeling and control of elastic joint robots, Trans. ASME, 109, 310-319 (1987) · Zbl 0656.93052 |
| [14] | Spong, M. W., On the robust control of robot manipulators, IEEE Trans. Automat. Control, AC-37, 11, 1782-1786 (1992) · Zbl 0778.93082 |
| [15] | Tomei, P., Tracking control of flexible joint robots with uncertain parameters and disturbances, IEEE Trans. Automat. Control, AC-39, 5, 1067-1072 (1994) · Zbl 0816.93062 |
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. In some cases that data have been complemented/enhanced by data from zbMATH Open. This attempts to reflect the references listed in the original paper as accurately as possible without claiming completeness or a perfect matching.
