TY - CHAP
T1 - Adaptive robust control with optimal servo mechanism for uncertain nonlinear systems
AU - Izumi, Kiyotaka
AU - Watanabe, Keigo
PY - 1996/12/1
Y1 - 1996/12/1
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 - Chapter
AN - SCOPUS:0030377958
T3 - Proceedings of the IEEE Conference on Decision and Control
BT - Proceedings of the IEEE Conference on Decision and Control
A2 - Anon, null
T2 - Proceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4)
Y2 - 11 December 1996 through 13 December 1996
ER -