期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 45, 期 11, 页码 2164-2169出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/9.887661
关键词
disturbance attenuation; dynamic friction; robotic manipulators; robust adaptive control
The tracking problem is considered for robot manipulators with unknown parameters and dynamic friction, in the presence of bounded disturbances and/or modeling uncertainties. The authors design a robust adaptive control algorithm which guarantees arbitrary disturbance attenuation. If the disturbances belong to L-2, asymptotic tracking is also achieved.
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