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 language | English |
|---|---|
| Title of host publication | Proceedings of the IEEE Conference on Decision and Control |
| Editors | Anon |
| Volume | 1 |
| Publication status | Published - 1996 |
| Externally published | Yes |
| Event | Proceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4) - Kobe, Jpn Duration: Dec 11 1996 → Dec 13 1996 |
Other
| Other | Proceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4) |
|---|---|
| City | Kobe, Jpn |
| Period | 12/11/96 → 12/13/96 |
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ASJC Scopus subject areas
- Chemical Health and Safety
- Control and Systems Engineering
- Safety, Risk, Reliability and Quality
Cite this
Adaptive robust control with optimal servo mechanism for uncertain nonlinear systems. / Izumi, Kiyotaka; Watanabe, Keigo.
Proceedings of the IEEE Conference on Decision and Control. ed. / Anon. Vol. 1 1996.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Adaptive robust control with optimal servo mechanism for uncertain nonlinear systems
AU - Izumi, Kiyotaka
AU - Watanabe, Keigo
PY - 1996
Y1 - 1996
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0030377958&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0030377958&partnerID=8YFLogxK
M3 - Conference contribution
VL - 1
BT - Proceedings of the IEEE Conference on Decision and Control
A2 - Anon, null
ER -