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Titel:

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

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
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...     »
Zeitschriftentitel:
IEEE Access
Jahr:
2018
Band / Volume:
vol. 6
Seitenangaben Beitrag:
51.626-51.639
Reviewed:
ja
Sprache:
en
Volltext / DOI:
doi:10.1109/ACCESS.2018.2870292
Verlag / Institution:
IEEE
Publikationsdatum:
17.09.2018
Semester:
SS 18
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