| 203A6 |
|---|
| Adaptive Control with Disturbance Attenuation for Robot System using only Joint Measurments |
| AUTHORS |
| Youhei SUGA, Kazuya SATO, Keigo WATANABE (Graduate School of Saga University) |
| ABSTRACT |
| This paper considers adaptive H-infinity control for robotic systems using only joint position measurements. We give a new class of adaptive control for robotic systems which are not only asymptotically tracking but also sub-optimal to some meaningful cost functionals. It is also shown that the derived systems are sub-optimal H-infinity control systems. Besides, the control system can be designed without solving the Hamilton-Jacobi-Isaacs equation. Numerical simulations are shown to illustrate the effectiveness of our method. |
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Annual Conference 2002