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Conference Paper: Robust control of robot manipulators using hybrid H∞/adaptive controller

TitleRobust control of robot manipulators using hybrid H∞/adaptive controller
Authors
Tam, HHHung, YSTso, SK
KeywordsComputers
Robotics
Issue Date1994
PublisherIEEE.
Citation
Ieee/Rsj/Gi International Conference On Intelligent Robots And Systems, 1994, v. 2, p. 1461-1468 How to Cite?
DOI: http://dx.doi.org/10.1109/IROS.1994.407495
AbstractA robust hybrid control method for robot manipulators is proposed which integrates an H∞ controller and an adaptive controller. The H∞ controller is used to minimize the effect of parameter uncertainties of the robot model on the tracking performance, while the adaptive controller continuously adjusts the model parameters to reduce the model error. Simulations show that disturbances generated from the model error will be quickly compensated and so small tracking errors can be achieved.
Persistent Identifierhttp://hdl.handle.net/10722/46215

 

DC FieldValueLanguage
dc.contributor.authorTam, HHen_HK
dc.contributor.authorHung, YSen_HK
dc.contributor.authorTso, SKen_HK
dc.date.accessioned2007-10-30T06:44:58Z-
dc.date.available2007-10-30T06:44:58Z-
dc.date.issued1994en_HK
dc.identifier.citationIeee/Rsj/Gi International Conference On Intelligent Robots And Systems, 1994, v. 2, p. 1461-1468en_HK
dc.identifier.urihttp://hdl.handle.net/10722/46215-
dc.description.abstractA robust hybrid control method for robot manipulators is proposed which integrates an H∞ controller and an adaptive controller. The H∞ controller is used to minimize the effect of parameter uncertainties of the robot model on the tracking performance, while the adaptive controller continuously adjusts the model parameters to reduce the model error. Simulations show that disturbances generated from the model error will be quickly compensated and so small tracking errors can be achieved.en_HK
dc.format.extent426772 bytes-
dc.format.extent3891 bytes-
dc.format.mimetypeapplication/pdf-
dc.format.mimetypetext/plain-
dc.languageengen_HK
dc.publisherIEEE.en_HK
dc.relation.ispartofIEEE/RSJ/GI International Conference on Intelligent Robots and Systemsen_HK
dc.rights©1994 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.-
dc.subjectComputersen_HK
dc.subjectRoboticsen_HK
dc.titleRobust control of robot manipulators using hybrid H∞/adaptive controlleren_HK
dc.typeConference_Paperen_HK
dc.identifier.emailHung, YS:yshung@eee.hku.hken_HK
dc.identifier.authorityHung, YS=rp00220en_HK
dc.description.naturepublished_or_final_versionen_HK
dc.identifier.doi10.1109/IROS.1994.407495en_HK
dc.identifier.scopuseid_2-s2.0-0028733087en_HK
dc.identifier.volume2en_HK
dc.identifier.spage1461en_HK
dc.identifier.epage1468en_HK
dc.identifier.scopusauthoridTam, HH=7101835066en_HK
dc.identifier.scopusauthoridHung, YS=8091656200en_HK
dc.identifier.scopusauthoridTso, SK=7103261608en_HK

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