期刊
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
卷 17, 期 9, 页码 2193-2202出版社
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-018-0767-5
关键词
Adaptive tracking control; H-infinity analysis; robotic manipulator; time varying delay
资金
- National Natural Science Foundation of China [61773212]
- International Science & Technology Cooperation Program of China [2015DFA01710]
- Natural Science Foundation of Jiangsu Province [BK20170094]
- 11th Jiangsu Province Six talent peaks of high level talents [2014_ZBZZ_005]
This paper presents H-infinity adaptive tracking control of uncertain robotic manipulator with unknown external disturbances and input time-varying delays. The new adaptive scheme is proposed for trajectory tracking, while H-infinity performance is used to attenuate the effect of external disturbances. Firstly, a delay-dependent sufficient condition with input delay and the proposed adaptive controller are developed for the uncertain robotic manipulator, such that the resulting closed-loop system is robustly asymptotically stable. Secondly, a sufficient condition for the H-infinity disturbance attenuation performance of the closed-loop system is derived, consequently, the system is robustly asymptotically stable. In the end, two examples are presented to verify the effectiveness of the proposed method.
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