Kazuhiro Tsuruta

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— This paper proposes an adaptive control method for robotic manipulators with input toque uncertainties. For each link of manipulators, it is assumed that the input torque uncertainties can be divided into unknown parameters term and bounded disturbance term. In addition, all the parameters for input torque uncertainties and robot are unknown. The proposed(More)
This paper examines the problem of link position tracking control for robot manipulators with input toque uncertainty. It is assumed that the input torque uncertainty can be regarded as dead-zone effects at each link of manipu-lator and all the system parameters for dead-zone model and robot are unknown. The proposed method ensures that the unknown(More)
— An adaptive H ∞ control for positioning mechanism with input nonlinearity is proposed in this paper. It is assumed that the input nonlinearity can be described as unknown parameters term and bounded disturbance term, an adaptive H ∞ control method is given. Proposed control strategy does not include a discontinuous function, therefore, it can avoid to(More)
This paper deals with the adaptive dead–zone compensation strategy based on notion of H ∞ optimality. It is assumed that the dead–zone model can be divided into unknown parameters term and bounded disturbance term, an adaptive H ∞ control method is given. Proposed control strategy does not include the discontinuous function, therefore, it is effective for(More)
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