A nonlinear adaptive robust control design for robotic systems under time-varying parameter perturbation and external disturbance

2004 ◽  
Author(s):  
Yingjie Yin ◽  
K. Ogata ◽  
Y. Hayakawa ◽  
S. Hosoe
Keyword(s):  
Robust Control ◽  
External Disturbance ◽  
Control Design ◽  
Adaptive Robust Control ◽  
Robotic Systems ◽  
Time Varying ◽  
Parameter Perturbation ◽  
Time Varying Parameter ◽  
Robust Control Design

Decentralized Adaptive Robust Control Design: The Uncertainty is Time Varying

1991 ◽  
Vol 113 (3) ◽  
pp. 515-518 ◽  
Author(s):  
Y. H. Chen
Keyword(s):  
Robust Control ◽  
A Priori ◽  
Control Design ◽  
Statistical Information ◽  
Adaptive Robust Control ◽  
Interconnected Systems ◽  
Time Varying ◽  
Adaptive Scheme ◽  
Adaptive Parameter ◽  
Robust Control Design

We consider a class of nonlinear uncertain interconnected systems with time-varying uncertainty. The uncertainty may arise within each system as well as in the interconnections. The uncertainty is assumed bounded but the bound is unknown. No a priori statistical information is imposed. Decentralized adaptive robust control is proposed for each system. The control has two parts. First, an adaptive scheme for the estimation of the bound is constructed. Second, a robust control, which is based on the adaptive parameter, is adopted for each system.

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