Adaptive robust control with optimal servo mechanism for uncertain nonlinear systems

Kiyotaka Izumi; Keigo Watanabe

Adaptive robust control with optimal servo mechanism for uncertain nonlinear systems

Research output: Chapter in Book/Report/Conference proceeding › Chapter

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
Publication status	Published - Dec 1 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

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	1
ISSN (Print)	0191-2216

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

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Control and Optimization

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