Elsevier

Automatica

Volume 33, Issue 2, February 1997, Pages 239-243
Automatica

Adaptive disturbance attenuation with global stability for rigid and elastic joint robots**

https://doi.org/10.1016/S0005-1098(96)00144-6Get rights and content

Abstract

The disturbance attenuation problem with global internal stability is solved for both rigid and elastic joint robots in the presence of unknown constant parameters. The proposed dynamic controller combines adaptive and H control techniques.

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    For instance, an adaptive scheme of combining disturbance observer and backstepping was proposed for strict-feedback nonlinear systems in [10,11]. Furthermore, Sun and co-workers [12,13] dealt with the problem of adaptive disturbance attenuation for the non-strict feedback systems and the generalized high-order nonlinear systems, respectively, in which the external disturbances belong to the L2 space. Xie [14] proposed a control configuration based on disturbance observer to deal with high-frequency measurement noise.

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**

This paper was not presented at any IFAC meeting. This paper was recommended for publication in revised form by Associate Editor P. Ioannou under the direction of Editor C.C. Hang.

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