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Article
Self-tuning control of robot manipulators
Article first published online: 21 MAR 2007
DOI: 10.1002/acs.4480070509
Copyright © 1993 John Wiley & Sons, Ltd.
Issue
1099-1115/asset/cover.gif?v=1&s=015a2949e63097a11ac3d83a29a96f0638085be5 "International Journal of Adaptive Control and Signal Processing")
International Journal of Adaptive Control and Signal Processing
Volume 7, Issue 5, pages 405–416, September 1993
Additional Information
How to Cite
Nicosia, S. and Tomei, P. (1993), Self-tuning control of robot manipulators. Int. J. Adapt. Control Signal Process., 7: 405–416. doi: 10.1002/acs.4480070509
Publication History
- Issue published online: 21 MAR 2007
- Article first published online: 21 MAR 2007
Funded by
- CNR. Grant Number: 90.00374.PF67
- Abstract
- References
- Cited By
Keywords:
- Robot manipulators;
- Self-tuning control;
- Disturbance attenuation
Abstract
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.