Robust adaptive control
Control Theory of Nonlinear Mechanical Systems
Control Theory of Nonlinear Mechanical Systems
Robot Dynamics and Control
Adaptive Control of Systems with Actuator and Sensor Nonlinearities
Adaptive Control of Systems with Actuator and Sensor Nonlinearities
Stabilization of Nonlinear Uncertain Systems
Stabilization of Nonlinear Uncertain Systems
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The problem of constructing nonlinear adaptive H∞ control of constrained robotic manipulators with uncertain input nonlinearities such as dead-zone or backlash, is considered in this paper. In the proposed control scheme, adaptive inverse models are introduced to compensate effects of input nonlinearities, and the trajectory converges to the desired constrained trajectory, and the constraint force also follows the desired constraint one. The resulting control strategy is derived as a solution of certain H∞ control problem, where estimation errors of tuning parameters, errors of constraint forces and residual terms of the inverse models, are regarded as external disturbances to the process.