Lyapunov Recursive Design Based Robust Adaptive Tracking Control with <i>L</i><sub>2</sub>-Gain Disturbance Attenuation for Electrically-Driven Robot Manipulators
نویسندگان
چکیده
منابع مشابه
Lyapunov recursive design of robust adaptive tracking control with L2-gain performance for electrically-driven robot manipulators
This paper develops a new Lyapunov recursive design for the tracking control problem of rigid-link electrically-driven robot manipulators with uncertainty by taking a tracking performance into account. The tracking performance is evaluated by L2-gain from a torque level disturbance signal to a penalty signal for the tracking error between outputs of the manipulator and desired trajectories. The...
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ژورنال
عنوان ژورنال: IEEJ Transactions on Electronics, Information and Systems
سال: 2001
ISSN: 0385-4221,1348-8155
DOI: 10.1541/ieejeiss1987.121.6_1114