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Document type:
Zeitschriftenaufsatz 
Author(s):
Hayat, R. ; Leibold, M.; and Buss, M. 
Title:
Robust-adaptive controller design for robot manipulators using the H∞ approach 
Abstract:
This paper proposes a model-free robust-adaptive controller for Euler-Lagrange systems with a quantitative performance analysis in terms of state-errors. The controller has only few parameters, and the procedure of finding the controller parameters is intuitive and easy to implement. The controller acts as an adaptive computed-torque controller and consists of two feedback loops: the inner loop evaluates the robot dynamics to linearize the system and the outer loop is a simple proportional deriv...    »
 
Journal title:
IEEE Access 
Year:
2018 
Journal volume:
vol. 6 
Pages contribution:
51.626-51.639 
Reviewed:
ja 
Language:
en 
Publisher:
IEEE 
Date of publication:
17.09.2018 
Semester:
SS 18