Adaptive robust control with optimal servo mechanism for uncertain nonlinear systems

Kiyotaka Izumi, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

It is well known that a servo system is necessary for tacking a model. If a servo controller is not used, then a steady-state error will appear in the response. In this paper, we propose a simplified adaptive nonlinear robust controller (SANROC) with the optimal servo mechanism to exclude the steady-state error due to a constant disturbance. The effectiveness of the proposed method is illustrated by an actual experiment for a 2 link robot manipulator.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Editors Anon
Publication statusPublished - Dec 1 1996
Externally publishedYes
EventProceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4) - Kobe, Jpn
Duration: Dec 11 1996Dec 13 1996

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume1
ISSN (Print)0191-2216

Other

OtherProceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4)
CityKobe, Jpn
Period12/11/9612/13/96

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

Cite this

Izumi, K., & Watanabe, K. (1996). Adaptive robust control with optimal servo mechanism for uncertain nonlinear systems. In Anon (Ed.), Proceedings of the IEEE Conference on Decision and Control (Proceedings of the IEEE Conference on Decision and Control; Vol. 1).