منابع مشابه
Discrete time robust control of robot manipulators in the task space using adaptive fuzzy estimator
This paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. A novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. Parameters of the fuzzy estimator are adapted to minimize the estimat...
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The motivation for this paper stems from the need to develop a uniform framework for addressing problems in identi!cation and robust control. System identi!cation for in!nite-dimensional Hilbert spaces has been addressed earlier by the authors. System identi!cation set in an Hilbert space results in uncertain models where the description of non-parametric error is typically a ball belonging to ...
متن کاملRobust Control of Electrically Driven Robots in the Task Space
In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....
متن کاملdiscrete time robust control of robot manipulators in the task space using adaptive fuzzy estimator
this paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. a novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. parameters of the fuzzy estimator are adapted to minimize the estimat...
متن کاملRobust Control of Electrically Driven Robots in the Task Space
In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....
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ژورنال
عنوان ژورنال: Journal of Mathematical Analysis and Applications
سال: 1989
ISSN: 0022-247X
DOI: 10.1016/0022-247x(89)90025-5