Composite adaptive control of robot manipulators
Automatica (Journal of IFAC)
Mathematical control theory: deterministic systems
Mathematical control theory: deterministic systems
On nonlinear control of Euler-Lagrange systems: disturbance attenuation properties
Systems & Control Letters
An adaptive friction compensator for global tracking in robot manipulators
Systems & Control Letters
L2-Gain and Passivity Techniques in Nonlinear Control
L2-Gain and Passivity Techniques in Nonlinear Control
Robust control of a general servomechanism problem: The servo compensator
Automatica (Journal of IFAC)
Repetitive control of MIMO systems using H∞ design
Automatica (Journal of IFAC)
Modeling and adaptive tracking for a class of stochastic Lagrangian control systems
Automatica (Journal of IFAC)
| Hi-index | 22.15 |
In this paper, we solve the tracking and disturbance rejection problem for fully actuated passive mechanical systems. We assume that the reference signal r and its first two derivatives r@?,r@? are available to the controller and the disturbance signal d can be decomposed into a finite superposition of sine waves of arbitrary but known frequencies and an arbitrary L^2 signal. We combine the internal model principle with the ideas behind the Slotine-Li adaptive controller. The internal model-based adaptive controller that we propose causes the closed-loop state trajectories to be bounded, and the tracking error and its derivative to converge to zero, without any prior knowledge of the plant parameters. An important part of our results is that we prove the existence and uniqueness of the state trajectories of the closed-loop system.