Abstract
The \(H_{\infty }\) switching adaptive control method with average dwell time is presented in this paper, in order to solve the uncertain problems such as load changes. Due to the change of the load, the parameters of the manipulator change. A switching system is established to simulate the manipulator system whose parameters change. The average dwell time ensures that the switching speed is slow enough that each subsystem can be stabilized, thereby making the entire switching system stable. Simulations show that, under load changes and input disturbances, the manipulator can achieve progressive tracking with the proposed controller.
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Zhang, H., Shang, J. (2022). \(H_{\infty }\) Switching Adaptive Tracking Control for Manipulator with Average Dwell Time. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13457. Springer, Cham. https://doi.org/10.1007/978-3-031-13835-5_51
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DOI: https://doi.org/10.1007/978-3-031-13835-5_51
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