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Self‐tuning control of robot manipulators
Author(s) -
Nicosia Salvatore,
Tomei Patrizio
Publication year - 1993
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.4480070509
Subject(s) - setpoint , control theory (sociology) , controller (irrigation) , robot manipulator , robot , tracking (education) , stability theory , control engineering , computer science , control (management) , engineering , artificial intelligence , nonlinear system , physics , psychology , pedagogy , quantum mechanics , agronomy , biology
We consider the tracking control problem for robot manipulators whose parameters are not exactly known. It is assumed that some unmodelled friction is acting at the actuated joints. The proposed solution guarantees that the disturbances on the outputs (the joint positions) can be attenuated by an arbitrary factor k . For the setpoint regulation problem a self‐tuning controller is proposed. In this case the disturbances (uncertain parameters and unmodelled non‐linearities) on the outputs are completely rejected asymptotically. Some simulation results are included.