A robust adaptive H_∞ control for robotic manipulators with input torque uncertainties
by Kazuya Sato, Takanori Nakashima, Kazuhiro Tsuruta
International Journal of Advanced Mechatronic Systems (IJAMECHS), Vol. 1, No. 2, 2008

Abstract: This paper proposes an adaptive control method for robotic manipulators with input toque uncertainties. For each link of manipulators, it is assumed that the input torque uncertainties can be divided into unknown parameters term and bounded disturbance term. In addition, all the parameters for input torque uncertainties and robot are unknown. The proposed method ensures that the unknown parameters are estimated adaptively. Moreover, our proposed method can attenuate not only the external input torque disturbances, but also the estimation errors of the unknown parameters in the notion of H_∞ control performance. In spite of considering the non-linear adaptive H_∞ control problems, the compensator can design without solving the Hamilton-Jacobi-Isaacs equation. Simulation and experimental results are given to illustrate the effectiveness of our proposed method.

Online publication date: Tue, 16-Dec-2008

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Advanced Mechatronic Systems (IJAMECHS):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com