Energy-Based L2-Disturbance Attenuation Control for Robot Manipulator With Uncertainties and Input Delay
Yong Ren, Weiwei Sun & Baozeng Fu · Journal of Advances in Mathematics and Computer Science · 2014
This paper investigates the problem of -disturbance attenuation for robot manipulator with model uncertainty and input time delay. With the idea of shaping potential energy and the method of pre-feedback, a delayed Hamiltonian system structure is obtained for both full actuated a...
Open access
Research Article
10.9734/BJMCS/2014/10905