IEEE Transactions on Automatic Control, Vol.44, No.3, 654-658, 1999
Robust adaptive control of robots with arbitrary transient performance and disturbance attenuation
We consider the tracking problem for rebut manipulators with unknown and (possibly) time-varying parameters, which are subject to bounded disturbances. We provide a state feedback adaptive control algorithm which guarantees arbitrary transient performance as well as arbitrary disturbance attenuation. If the disturbances vanish and the parameters remain constant, the proposed controller achieves asymptotic tracking.