Adaptive robust control with optimal servo mechanism for uncertain nonlinear systems

Kiyotaka Izumi, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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
Volume1
Publication statusPublished - 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

Other

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

Fingerprint

Robust control
Nonlinear systems
Controllers
Servomechanisms
Manipulators
Robots
Experiments

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

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 (Vol. 1)

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 proceedingConference contribution

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. vol. 1, Proceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4), Kobe, Jpn, 12/11/96.
Izumi K, Watanabe K. Adaptive robust control with optimal servo mechanism for uncertain nonlinear systems. In Anon, editor, Proceedings of the IEEE Conference on Decision and Control. Vol. 1. 1996
Izumi, Kiyotaka ; Watanabe, Keigo. / Adaptive robust control with optimal servo mechanism for uncertain nonlinear systems. Proceedings of the IEEE Conference on Decision and Control. editor / Anon. Vol. 1 1996.
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