Kazuhiro Tsuruta

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This paper considers an adaptive H<sup>infin</sup> control method with link frictions compensation and external disturbances rejection for robotic systems. It is assumed that all the system parameters for friction model and robot are unknown. The proposed method ensures that the unknown parameters are estimated and approximation errors of friction model and(More)
In this paper an adaptive tracking control of a servo mechanism with friction is developed, based on the notion of H<sup>infin</sup> optimality. It is assumed that the friction dynamics can be described by the LuGre model. The nonlinear characteristic function of the LuGre model is parameterized by a neural-network (NN). In general, friction parameters and(More)
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)
To achieve high-speed, high-precision position control for semiconductor product machines and industrial robots, full-closed feedback control is applied. Many control methods have been proposed for such a system. In general, proportional position control and proportional plus integral velocity control or integral plus proportional velocity control (P,(More)
This paper presents new vibration suppression control method for multiaxis table drive system. In multiaxis table drive system, the synchronization error disturbs high precision and a fast response time to cause serious vibration. It is caused by a motion error due to a characteristics change of a table slide system. In the case of synchronization error(More)
This paper considers the design of an adaptive trajectory tracking control strategy of nonholonomic wheeled mobile robots which is based on H<inf>&#x221E;</inf> control method. Kinematics control laws of mobile robots is well known, therefore, developing the dynamics control is focused. It is shown that the resulting dynamics control strategy can compensate(More)
— This paper considers the design of an adaptive trajectory tracking control strategy of nonholonomic wheeled mobile robots which is based on H∞ control method. Kine-matics control laws of mobile robots is well known, therefore, developing the dynamics control is focused. It is shown that the resulting dynamics control strategy can compensate not only the(More)
— 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)