Nonlinear Adaptive H∞ Control for Robotic Manipulators
نویسنده
چکیده
A new class of adaptive nonlinear H∞ control for robotic manipulators is proposed in this manuscript. Those control strategies are derived as solutions of particular nonlinear H∞ control problems, where both disturbances and estimation errors of unknown system parameters are regarded as exogenous disturbances to the processes, and the 2 gains from those uncertainties to generalized outputs are prescribed explicitly. The resulting adaptive control systems are shown to be robust to the estimation errors in the adaptation schemes. Copyright c 2002 IFAC
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تاریخ انتشار 2002