论文信息 - Self‐tuning control of robot manipulators

Self‐tuning control of robot manipulators

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.

Patrizio Tomei | Salvatore Nicosia

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