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Title:

Robust-Adaptive Controller Design for Robot Manipulators using the H∞ Approach

Document type:
Zeitschriftenaufsatz
Author(s):
Hayat, Rameez; Leibold, Marion; Buss, Martin
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
Fulltext / DOI:
doi:10.1109/ACCESS.2018.2870292
Publisher:
IEEE
Date of publication:
17.09.2018
Semester:
SS 18
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