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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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 (Proceedings of the IEEE Conference on Decision and Control; Vol. 1).