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

ASJC Scopus subject areas

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

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